diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index c447cd3e42..abb17366a9 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1996,6 +1996,17 @@ MAV_RESULT AP_InertialSensor::simple_accel_cal()
     return result;
 }
 
+/*
+  see if gyro calibration should be performed
+ */
+AP_InertialSensor::Gyro_Calibration_Timing AP_InertialSensor::gyro_calibration_timing()
+{
+    if (hal.util->was_watchdog_reset()) {
+        return GYRO_CAL_NEVER;
+    }
+    return (Gyro_Calibration_Timing)_gyro_cal_timing.get();
+}
+
 
 namespace AP {
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 6d4ea2209d..b7c1d6e22f 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -134,7 +134,7 @@ public:
     bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
     bool gyro_calibrated_ok_all() const;
     bool use_gyro(uint8_t instance) const;
-    Gyro_Calibration_Timing gyro_calibration_timing() { return (Gyro_Calibration_Timing)_gyro_cal_timing.get(); }
+    Gyro_Calibration_Timing gyro_calibration_timing();
 
     bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
     bool get_accel_health(void) const { return get_accel_health(_primary_accel); }