diff --git a/libraries/AP_NavEKF/EKFGSF_yaw.cpp b/libraries/AP_NavEKF/EKFGSF_yaw.cpp
index 7427f2218c..7d33a00fd7 100644
--- a/libraries/AP_NavEKF/EKFGSF_yaw.cpp
+++ b/libraries/AP_NavEKF/EKFGSF_yaw.cpp
@@ -592,11 +592,11 @@ float EKFGSF_yaw::gaussianDensity(const uint8_t mdl_idx) const
     return normDist;
 }
 
-bool EKFGSF_yaw::getLogData(float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
+bool EKFGSF_yaw::getLogData(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
 {
     if (vel_fuse_running) {
-        *yaw_composite = GSF.yaw;
-        *yaw_composite_variance = GSF.yaw_variance;
+        yaw_composite = GSF.yaw;
+        yaw_composite_variance = GSF.yaw_variance;
         for (uint8_t mdl_idx = 0; mdl_idx < N_MODELS_EKFGSF; mdl_idx++) {
             yaw[mdl_idx] = EKF[mdl_idx].X[2];
             innov_VN[mdl_idx] = EKF[mdl_idx].innov[0];
@@ -647,12 +647,12 @@ Matrix3f EKFGSF_yaw::updateRotMat(const Matrix3f &R, const Vector3f &g)
     return ret;
 }
 
-bool EKFGSF_yaw::getYawData(float *yaw, float *yawVariance)
+bool EKFGSF_yaw::getYawData(float &yaw, float &yawVariance)
 {
     if (!vel_fuse_running) {
         return false;
     }
-    *yaw = GSF.yaw;
-    *yawVariance = GSF.yaw_variance;
+    yaw = GSF.yaw;
+    yawVariance = GSF.yaw_variance;
     return true;
 }
\ No newline at end of file
diff --git a/libraries/AP_NavEKF/EKFGSF_yaw.h b/libraries/AP_NavEKF/EKFGSF_yaw.h
index 64a1864aff..84ed6bc9c0 100644
--- a/libraries/AP_NavEKF/EKFGSF_yaw.h
+++ b/libraries/AP_NavEKF/EKFGSF_yaw.h
@@ -27,11 +27,11 @@ public:
 
     // get solution data for logging
     // return false if yaw estimation is inactive
-    bool getLogData(float *yaw_composite, float *yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
+    bool getLogData(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]);
 
     // get yaw estimated and corresponding variance
     // return false if yaw estimation is inactive
-    bool getYawData(float *yaw, float *yawVariance);
+    bool getYawData(float &yaw, float &yawVariance);
 
 private: