diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index f6c727912a..3c9bb1ba7e 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -400,9 +400,8 @@ public:
     };
 
     // return the amount of yaw angle change due to the last yaw angle reset in radians
-    // returns true if a reset yaw angle has been updated and not queried
-    // this function should not have more than one client
-    virtual bool getLastYawResetAngle(float &yawAng) {
+    // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
+    virtual uint32_t getLastYawResetAngle(float &yawAng) {
         return false;
     };
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index eda1183ee0..923a888f42 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -679,9 +679,8 @@ const char *AP_AHRS_NavEKF::prearm_failure_reason(void) const
 }
 
 // return the amount of yaw angle change due to the last yaw angle reset in radians
-// returns true if a reset yaw angle has been updated and not queried
-// this function should not have more than one client
-bool AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng)
+// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
+uint32_t AP_AHRS_NavEKF::getLastYawResetAngle(float &yawAng)
 {
     switch (ekf_type()) {
     case 1:
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 573c914ff8..e67403bb0d 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -143,9 +143,8 @@ public:
     const char *prearm_failure_reason(void) const override;
 
     // return the amount of yaw angle change due to the last yaw angle reset in radians
-    // returns true if a reset yaw angle has been updated and not queried
-    // this function should not have more than one client
-    bool getLastYawResetAngle(float &yawAng);
+    // returns the time of the last yaw angle reset or 0 if no reset has ever occurred
+    uint32_t getLastYawResetAngle(float &yawAng);
 
     // Resets the baro so that it reads zero at the current height
     // Resets the EKF height to zero