diff --git a/libraries/AP_Vehicle/AP_Vehicle.cpp b/libraries/AP_Vehicle/AP_Vehicle.cpp
index 6b8eaca3f5..7133e5639d 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.cpp
+++ b/libraries/AP_Vehicle/AP_Vehicle.cpp
@@ -2,6 +2,7 @@
 
 #include <AP_BLHeli/AP_BLHeli.h>
 #include <AP_Common/AP_FWVersion.h>
+#include <AP_Arming/AP_Arming.h>
 
 #define SCHED_TASK(func, rate_hz, max_time_micros) SCHED_TASK_CLASS(AP_Vehicle, &vehicle, func, rate_hz, max_time_micros)
 
@@ -213,6 +214,14 @@ void AP_Vehicle::send_watchdog_reset_statustext()
         );
 }
 
+bool AP_Vehicle::is_crashed() const
+{
+    if (AP::arming().is_armed()) {
+        return false;
+    }
+    return AP::arming().last_disarm_method() == AP_Arming::Method::CRASH;
+}
+
 // @LoggerMessage: FTN
 // @Description: Filter Tuning Messages
 // @Field: TimeUS: microseconds since system startup
diff --git a/libraries/AP_Vehicle/AP_Vehicle.h b/libraries/AP_Vehicle/AP_Vehicle.h
index afd6a2d595..53fd6c7173 100644
--- a/libraries/AP_Vehicle/AP_Vehicle.h
+++ b/libraries/AP_Vehicle/AP_Vehicle.h
@@ -166,6 +166,9 @@ public:
         return AP_HAL::millis() - _last_flying_ms;
     }
 
+    // returns true if the vehicle has crashed
+    virtual bool is_crashed() const;
+
     /*
       methods to control vehicle for use by scripting
     */