diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 380128e180..028fd5649e 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -117,6 +117,9 @@ public:
     // reset the current attitude, used on new IMU calibration
     virtual void reset(bool recover_eulers=false) = 0;
 
+    // reset the current attitude, used on new IMU calibration
+    virtual void reset_attitude(const float &roll, const float &pitch, const float &yaw) = 0;
+
     // how often our attitude representation has gone out of range
     uint8_t renorm_range_count;
 
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index b0240e6690..a7b09921d2 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -117,6 +117,12 @@ AP_AHRS_DCM::reset(bool recover_eulers)
     }
 }
 
+// reset the current attitude, used by HIL
+void AP_AHRS_DCM::reset_attitude(const float &roll, const float &pitch, const float &yaw)
+{
+    _dcm_matrix.from_euler(roll, pitch, yaw);    
+}
+
 /*
  *  check the DCM matrix for pathological values
  */
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.h b/libraries/AP_AHRS/AP_AHRS_DCM.h
index b3372d9bec..f3a8cf64a8 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.h
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.h
@@ -55,6 +55,9 @@ public:
     void            update(void);
     void            reset(bool recover_eulers = false);
 
+    // reset the current attitude, used on new IMU calibration
+    void reset_attitude(const float &roll, const float &pitch, const float &yaw);
+
     // dead-reckoning support
     bool get_position(struct Location &loc);
 
diff --git a/libraries/AP_AHRS/AP_AHRS_HIL.h b/libraries/AP_AHRS/AP_AHRS_HIL.h
index 7081114510..7c55d8f4c0 100644
--- a/libraries/AP_AHRS/AP_AHRS_HIL.h
+++ b/libraries/AP_AHRS/AP_AHRS_HIL.h
@@ -36,6 +36,10 @@ public:
     void reset(bool recover_eulers=false) {
     }
 
+    void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) {
+        // not implemented - use setHil()
+    }
+
     float get_error_rp(void) {
         return 0;
     }