diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 5689781b89..3a950cdbb2 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -160,6 +160,9 @@ public:
     // accelerometer values in the earth frame in m/s/s
     const Vector3f &get_accel_ef(void) const { return _accel_ef[_ins.get_primary_accel()]; }
 
+    // get yaw rate in earth frame in radians/sec
+    float get_yaw_rate_earth(void) const { return get_gyro() * get_dcm_matrix().c; }
+
     // Methods
     virtual void update(void) = 0;