diff --git a/libraries/APM_Control/AP_PitchController.h b/libraries/APM_Control/AP_PitchController.h
index f31798001e..3e6d42249a 100644
--- a/libraries/APM_Control/AP_PitchController.h
+++ b/libraries/APM_Control/AP_PitchController.h
@@ -43,6 +43,7 @@ public:
     AP_Float &kI(void) { return rate_pid.kI(); }
     AP_Float &kD(void) { return rate_pid.kD(); }
     AP_Float &kFF(void) { return rate_pid.ff(); }
+    AP_Float &tau(void) { return gains.tau; }
 
     void convert_pid();
 
diff --git a/libraries/APM_Control/AP_RollController.h b/libraries/APM_Control/AP_RollController.h
index 1e68c60aa0..eecc583283 100644
--- a/libraries/APM_Control/AP_RollController.h
+++ b/libraries/APM_Control/AP_RollController.h
@@ -50,6 +50,7 @@ public:
     AP_Float &kI(void) { return rate_pid.kI(); }
     AP_Float &kD(void) { return rate_pid.kD(); }
     AP_Float &kFF(void) { return rate_pid.ff(); }
+    AP_Float &tau(void) { return gains.tau; }
 
     void convert_pid();