diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 5282e01e2f..807f825597 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -10,6 +10,7 @@
 #include <AP_RPM/AP_RPM.h>
 #include <SRV_Channel/SRV_Channel.h>
 #include <AP_Motors/AP_Motors.h>
+#include <AR_Motors/AP_MotorsUGV.h>
 #include <AP_CheckFirmware/AP_CheckFirmware.h>
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
 #include <AP_HAL_ChibiOS/sdcard.h>
@@ -457,13 +458,19 @@ bool AP_Vehicle::is_crashed() const
 // update the harmonic notch filter for throttle based notch
 void AP_Vehicle::update_throttle_notch(AP_InertialSensor::HarmonicNotch &notch)
 {
-#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
+#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI||APM_BUILD_TYPE(APM_BUILD_Rover)
     const float ref_freq = notch.params.center_freq_hz();
     const float ref = notch.params.reference();
     const float min_ratio = notch.params.freq_min_ratio();
 
+#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
     const AP_Motors* motors = AP::motors();
     const float motors_throttle = motors != nullptr ? MAX(0,motors->get_throttle_out()) : 0;
+#else  // APM_BUILD_Rover
+    const AP_MotorsUGV *motors = AP::motors_ugv();
+    const float motors_throttle = motors != nullptr ? abs(motors->get_throttle() / 100.0f) : 0;
+#endif
+
     float throttle_freq = ref_freq * MAX(min_ratio, sqrtf(motors_throttle / ref));
 
     notch.update_freq_hz(throttle_freq);
@@ -473,7 +480,7 @@ void AP_Vehicle::update_throttle_notch(AP_InertialSensor::HarmonicNotch &notch)
 // update the harmonic notch filter center frequency dynamically
 void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch)
 {
-#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
+#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI||APM_BUILD_TYPE(APM_BUILD_Rover)
     if (!notch.params.enabled()) {
         return;
     }
@@ -484,12 +491,16 @@ void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch)
         return;
     }
 
+#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
     const AP_Motors* motors = AP::motors();
     if (motors != nullptr && motors->get_spool_state() == AP_Motors::SpoolState::SHUT_DOWN) {
         notch.set_inactive(true);
     } else {
         notch.set_inactive(false);
     }
+#else  // APM_BUILD_Rover: keep notch active
+    notch.set_inactive(false);
+#endif
 
     switch (notch.params.tracking_mode()) {
         case HarmonicNotchDynamicMode::UpdateThrottle: // throttle based tracking
@@ -550,10 +561,9 @@ void AP_Vehicle::update_dynamic_notch(AP_InertialSensor::HarmonicNotch &notch)
             notch.update_freq_hz(ref_freq);
             break;
     }
-#endif // APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI
+#endif // APM_BUILD_TYPE(APM_BUILD_ArduPlane)||APM_BUILD_COPTER_OR_HELI||APM_BUILD_TYPE(APM_BUILD_Rover)
 }
 
-
 // run notch update at either loop rate or 200Hz
 void AP_Vehicle::update_dynamic_notch_at_specified_rate()
 {