diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
index e1bb298590..b418cdbcff 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@@ -700,7 +700,7 @@ void NavEKF2_core::readAirSpdData()
 void NavEKF2_core::readRngBcnData()
 {
     // get the location of the beacon data
-    const AP_Beacon *beacon = _ahrs->get_beacon();
+    const AP_Beacon *beacon = AP::beacon();
 
     // exit immediately if no beacon object
     if (beacon == nullptr) {