diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index 42c9e63e8e..4e95097bcb 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -53,7 +53,7 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
 void Copter::check_ekf_yaw_reset()
 {
     float yaw_angle_change_rad = 0.0f;
-    uint32_t new_ekfYawReset_ms = ahrs.get_NavEKF().getLastYawResetAngle(yaw_angle_change_rad);
+    uint32_t new_ekfYawReset_ms = ahrs.getLastYawResetAngle(yaw_angle_change_rad);
     if (new_ekfYawReset_ms != ekfYawReset_ms) {
         attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
         ekfYawReset_ms = new_ekfYawReset_ms;