diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index c3aa992820..34cf418421 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -1750,7 +1750,7 @@ AP_AHRS::EKFType AP_AHRS::active_EKF_type(void) const
     if (ret != EKFType::NONE &&
         (_vehicle_class == AHRS_VEHICLE_FIXED_WING ||
          _vehicle_class == AHRS_VEHICLE_GROUND) &&
-        (_flags.fly_forward || !hal.util->get_soft_armed())) {
+        (fly_forward || !hal.util->get_soft_armed())) {
         bool should_use_gps = true;
         nav_filter_status filt_state;
 #if HAL_NAVEKF2_AVAILABLE
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 654e7d4e3e..e9a96dcfd4 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -401,6 +401,19 @@ public:
         return touchdown_expected;
     }
 
+    /*
+     * fly_forward is set by the vehicles to indicate the vehicle
+     * should generally be moving in the direction of its heading.
+     * It is an additional piece of information that the backends can
+     * use to provide additional and/or improved estimates.
+     */
+    void set_fly_forward(bool b) {
+        fly_forward = b;
+    }
+    bool get_fly_forward(void) const {
+        return fly_forward;
+    }
+
 protected:
     // optional view class
     AP_AHRS_View *_view;
@@ -525,6 +538,14 @@ private:
     bool touchdown_expected;    // true if the vehicle is in a state that touchdown might be expected.  Ground effect may be in play.
     uint32_t touchdown_expected_start_ms;
 
+    /*
+     * fly_forward is set by the vehicles to indicate the vehicle
+     * should generally be moving in the direction of its heading.
+     * It is an additional piece of information that the backends can
+     * use to provide additional and/or improved estimates.
+     */
+    bool fly_forward; // true if we can assume the vehicle will be flying forward on its X axis
+
 #if HAL_NMEA_OUTPUT_ENABLED
     class AP_NMEA_Output* _nmea_out;
 #endif
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index 185b2a44e5..bd9beb4065 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -58,15 +58,6 @@ public:
     // init sets up INS board orientation
     virtual void init();
 
-    // Accessors
-    void set_fly_forward(bool b) {
-        _flags.fly_forward = b;
-    }
-
-    bool get_fly_forward(void) const {
-        return _flags.fly_forward;
-    }
-
     AHRS_VehicleClass get_vehicle_class(void) const {
         return _vehicle_class;
     }
@@ -522,7 +513,6 @@ protected:
     // flags structure
     struct ahrs_flags {
         uint8_t have_initial_yaw        : 1;    // whether the yaw value has been intialised with a reference
-        uint8_t fly_forward             : 1;    // 1 if we can assume the aircraft will be flying forward on its X axis
         uint8_t correct_centrifugal     : 1;    // 1 if we should correct for centrifugal forces (allows arducopter to turn this off when motors are disarmed)
         uint8_t wind_estimation         : 1;    // 1 if we should do wind estimation
     } _flags;
diff --git a/libraries/AP_AHRS/AP_AHRS_DCM.cpp b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
index d66358c666..5625eba632 100644
--- a/libraries/AP_AHRS/AP_AHRS_DCM.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_DCM.cpp
@@ -429,7 +429,7 @@ bool AP_AHRS_DCM::use_compass(void)
         // no compass available
         return false;
     }
-    if (!_flags.fly_forward || !have_gps()) {
+    if (!AP::ahrs().get_fly_forward() || !have_gps()) {
         // we don't have any alterative to the compass
         return true;
     }
@@ -507,7 +507,7 @@ AP_AHRS_DCM::drift_correction_yaw(void)
             // don't suddenly change yaw with a reset
             _gps_last_update = _gps.last_fix_time_ms();
         }
-    } else if (_flags.fly_forward && have_gps()) {
+    } else if (AP::ahrs().get_fly_forward() && have_gps()) {
         /*
           we are using GPS for yaw
          */
@@ -669,6 +669,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
     _ra_deltat += deltat;
 
     const AP_GPS &_gps = AP::gps();
+    const bool fly_forward = AP::ahrs().get_fly_forward();
 
     if (!have_gps() ||
             _gps.status() < AP_GPS::GPS_OK_FIX_3D ||
@@ -761,7 +762,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
     bool using_gps_corrections = false;
     float ra_scale = 1.0f/(_ra_deltat*GRAVITY_MSS);
 
-    if (_flags.correct_centrifugal && (_have_gps_lock || _flags.fly_forward)) {
+    if (_flags.correct_centrifugal && (_have_gps_lock || fly_forward)) {
         const float v_scale = gps_gain.get() * ra_scale;
         const Vector3f vdelta = (velocity - _last_velocity) * v_scale;
         GA_e += vdelta;
@@ -899,7 +900,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
         _omega_P *= 8;
     }
 
-    if (_flags.fly_forward && _gps.status() >= AP_GPS::GPS_OK_FIX_2D &&
+    if (fly_forward && _gps.status() >= AP_GPS::GPS_OK_FIX_2D &&
             _gps.ground_speed() < GPS_SPEED_MIN &&
             _ins.get_accel().x >= 7 &&
             pitch_sensor > -3000 && pitch_sensor < 3000) {
@@ -1032,7 +1033,7 @@ bool AP_AHRS_DCM::get_position(struct Location &loc) const
     loc.relative_alt = 0;
     loc.terrain_alt = 0;
     loc.offset(_position_offset_north, _position_offset_east);
-    if (_flags.fly_forward && _have_position) {
+    if (AP::ahrs().get_fly_forward() && _have_position) {
         float gps_delay_sec = 0;
         gps.get_lag(gps_delay_sec);
         loc.offset_bearing(gps.ground_course(), gps.ground_speed() * gps_delay_sec);