diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 5da1fdeeef1..ef0012d309f 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -292,6 +292,12 @@ const AP_Param::GroupInfo AP_Vehicle::var_info[] = {
     AP_SUBGROUPINFO(rpm_sensor, "RPM", 32, AP_Vehicle, AP_RPM),
 #endif
 
+#if AP_BEACON_ENABLED
+    // @Group: BCN
+    // @Path: ../AP_Beacon/AP_Beacon.cpp
+    AP_SUBGROUPINFO(beacon, "BCN", 33, AP_Vehicle, AP_Beacon),
+#endif  // AP_BEACON_ENABLED
+
     AP_GROUPEND
 };
 
@@ -428,6 +434,11 @@ void AP_Vehicle::setup()
     AP::gripper().init();
 #endif
 
+    // init beacons used for non-gps position estimation
+#if AP_BEACON_ENABLED
+    beacon.init();
+#endif  // AP_BEACON_ENABLED
+
     // init_ardupilot is where the vehicle does most of its initialisation.
     init_ardupilot();
 
@@ -621,6 +632,9 @@ const AP_Scheduler::Task AP_Vehicle::scheduler_tasks[] = {
 #if HAL_GYROFFT_ENABLED
     FAST_TASK_CLASS(AP_GyroFFT,    &vehicle.gyro_fft,       sample_gyros),
 #endif
+#if AP_BEACON_ENABLED
+    SCHED_TASK_CLASS(AP_Beacon,    &vehicle.beacon,         update,                  400, 200, 24),
+#endif  // AP_BEACON_ENABLED
 #if AP_AIRSPEED_ENABLED
     SCHED_TASK_CLASS(AP_Airspeed,  &vehicle.airspeed,       update,                   10, 100, 41),    // NOTE: the priority number here should be right before Plane's calc_airspeed_errors
 #endif
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index 8f215e36f68..7c161833b28 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -81,6 +81,11 @@
 #include <AP_Gripper/AP_Gripper.h>
 #endif
 
+#include <AP_Beacon/AP_Beacon_config.h>
+#if AP_BEACON_ENABLED
+#include <AP_Beacon/AP_Beacon.h>
+#endif  // AP_BEACON_ENABLED
+
 #include <AP_RPM/AP_RPM_config.h>
 #if AP_RPM_ENABLED
 #include <AP_RPM/AP_RPM.h>
@@ -376,6 +381,11 @@ protected:
     AP_Gripper gripper;
 #endif
 
+#if AP_BEACON_ENABLED
+    // beacon (non-GPS positioning) library
+    AP_Beacon beacon;
+#endif  // AP_BEACON_ENABLED
+
 #if AP_IBUS_TELEM_ENABLED
     AP_IBus_Telem ibus_telem;
 #endif