diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index ea7e84a882..08adf4ad67 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -317,5 +317,10 @@ bool AP_AHRS_NavEKF::initialised(void) const
     return (ekf_started && (hal.scheduler->millis() - start_time_ms > AP_AHRS_NAVEKF_SETTLE_TIME_MS));
 };
 
+// write optical flow data to EKF
+void  AP_AHRS_NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas)
+{
+    EKF.writeOptFlowMeas(rawFlowQuality, rawFlowRates, rawSonarRange, msecFlowMeas);
+}
 #endif // AP_AHRS_NAVEKF_AVAILABLE
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 69083caa38..f5a113730a 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -101,6 +101,9 @@ public:
     bool get_velocity_NED(Vector3f &vec) const;
     bool get_relative_position_NED(Vector3f &vec) const;
 
+    // write optical flow measurements to EKF
+    void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, float &rawSonarRange, uint32_t &msecFlowMeas);
+
     void set_ekf_use(bool setting) { _ekf_use.set(setting); }
 
     // is the AHRS subsystem healthy?