diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index ac87d7a42b..06ddc7c4f4 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3693,6 +3693,13 @@ bool NavEKF::getLLH(struct Location &loc) const
     return true;
 }
 
+// return the estimated height above ground level
+bool NavEKF::getHAGL(float &HAGL) const
+{
+    HAGL = flowStates[1] - state.position.z;
+    return !inhibitGndState;
+}
+
 // return data for debugging optical flow fusion
 void NavEKF::getFlowDebug(float &scaleFactor, float &gndPos, float &flowInnovX, float &flowInnovY, float &augFlowInnovX, float &augFlowInnovY, float &rngInnov, float &range) const
 {
diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index f72f0f3967..7a12896cb7 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -144,6 +144,10 @@ public:
     // return the last calculated latitude, longitude and height
     bool getLLH(struct Location &loc) const;
 
+    // return estimated height above ground level
+    // return false if ground height is not being estimated.
+    bool getHAGL(float &HAGL) const;
+
     // return the Euler roll, pitch and yaw angle in radians
     void getEulerAngles(Vector3f &eulers) const;