diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index 629bef2ba7..b812a2095e 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -201,6 +201,16 @@ bool AC_WPNav::set_wp_destination(const Location_Class& destination)
     return set_wp_destination(dest_neu, terr_alt);
 }
 
+bool AC_WPNav::get_wp_destination(Location_Class& destination) {
+    Vector3f dest = get_wp_destination();
+    if (!AP::ahrs().get_origin(destination)) {
+        return false;
+    }
+    destination.offset(dest.x*0.01f, dest.y*0.01f);
+    destination.alt += dest.z;
+    return true;
+}
+
 /// set_wp_destination waypoint using position vector (distance from home in cm)
 ///     terrain_alt should be true if destination.z is a desired altitude above terrain
 bool AC_WPNav::set_wp_destination(const Vector3f& destination, bool terrain_alt)
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 9dd2e32c51..70baa04762 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -103,6 +103,11 @@ public:
     ///     returns false if conversion from location to vector from ekf origin cannot be calculated
     bool set_wp_destination(const Location_Class& destination);
 
+    // returns wp location using location class.
+    // returns false if unable to convert from target vector to global
+    // coordinates
+    bool get_wp_destination(Location_Class& destination);
+
     /// set_wp_destination waypoint using position vector (distance from ekf origin in cm)
     ///     terrain_alt should be true if destination.z is a desired altitude above terrain
     bool set_wp_destination(const Vector3f& destination, bool terrain_alt = false);