diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
index 02dcd401eb..dd6af0ab6e 100644
--- a/ArduPlane/ArduPlane.cpp
+++ b/ArduPlane/ArduPlane.cpp
@@ -916,8 +916,8 @@ void Plane::get_osd_roll_pitch_rad(float &roll, float &pitch) const
         return;
     }
 #endif
-    pitch = ahrs.pitch;
-    roll = ahrs.roll;
+    pitch = ahrs.get_pitch();
+    roll = ahrs.get_roll();
     if (!(flight_option_enabled(FlightOptions::OSD_REMOVE_TRIM_PITCH_CD))) {  // correct for TRIM_PITCH_CD
         pitch -= g.pitch_trim_cd * 0.01 * DEG_TO_RAD;
     }
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 3715776f77..9a571e3b5e 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -129,9 +129,9 @@ void GCS_MAVLINK_Plane::send_attitude() const
 {
     const AP_AHRS &ahrs = AP::ahrs();
 
-    float r = ahrs.roll;
-    float p = ahrs.pitch;
-    float y = ahrs.yaw;
+    float r = ahrs.get_roll();
+    float p = ahrs.get_pitch();
+    float y = ahrs.get_yaw();
 
     if (!(plane.flight_option_enabled(FlightOptions::GCS_REMOVE_TRIM_PITCH_CD))) {
         p -= radians(plane.g.pitch_trim_cd * 0.01f);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 439c03d80a..972da6f765 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1090,7 +1090,7 @@ bool Plane::verify_landing_vtol_approach(const AP_Mission::Mission_Command &cmd)
                 const float breakout_direction_rad = radians(vtol_approach_s.approach_direction_deg + (direction > 0 ? 270 : 90));
 
                 // breakout when within 5 degrees of the opposite direction
-                if (fabsF(wrap_PI(ahrs.yaw - breakout_direction_rad)) < radians(5.0f)) {
+                if (fabsF(wrap_PI(ahrs.get_yaw() - breakout_direction_rad)) < radians(5.0f)) {
                     gcs().send_text(MAV_SEVERITY_INFO, "Starting VTOL land approach path");
                     vtol_approach_s.approach_stage = APPROACH_LINE;
                     set_next_WP(cmd.content.location);
diff --git a/ArduPlane/mode_cruise.cpp b/ArduPlane/mode_cruise.cpp
index 2d8c4c428c..3e16928f15 100644
--- a/ArduPlane/mode_cruise.cpp
+++ b/ArduPlane/mode_cruise.cpp
@@ -61,7 +61,7 @@ void ModeCruise::navigate()
 
     // check if we are moving in the direction of the front of the vehicle
     const int32_t ground_course_cd = plane.gps.ground_course_cd();
-    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.yaw)) < M_PI_2;
+    const bool moving_forwards = fabsf(wrap_PI(radians(ground_course_cd * 0.01) - plane.ahrs.get_yaw())) < M_PI_2;
 
     if (!locked_heading &&
         plane.channel_roll->get_control_in() == 0 &&
diff --git a/ArduPlane/mode_guided.cpp b/ArduPlane/mode_guided.cpp
index a523ddf870..b4ae1241e7 100644
--- a/ArduPlane/mode_guided.cpp
+++ b/ArduPlane/mode_guided.cpp
@@ -52,7 +52,7 @@ void ModeGuided::update()
 
         float error = 0.0f;
         if (plane.guided_state.target_heading_type == GUIDED_HEADING_HEADING) {
-            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().yaw);
+            error = wrap_PI(plane.guided_state.target_heading - AP::ahrs().get_yaw());
         } else {
             Vector2f groundspeed = AP::ahrs().groundspeed_vector();
             error = wrap_PI(plane.guided_state.target_heading - atan2f(-groundspeed.y, -groundspeed.x) + M_PI);
diff --git a/ArduPlane/mode_takeoff.cpp b/ArduPlane/mode_takeoff.cpp
index c303d459b2..b807c64777 100644
--- a/ArduPlane/mode_takeoff.cpp
+++ b/ArduPlane/mode_takeoff.cpp
@@ -81,7 +81,7 @@ void ModeTakeoff::update()
     const float dist = target_dist;
     if (!takeoff_started) {
         const uint16_t altitude = plane.relative_ground_altitude(false,true);
-        const float direction = degrees(ahrs.yaw);
+        const float direction = degrees(ahrs.get_yaw());
         // see if we will skip takeoff as already flying
         if (plane.is_flying() && (millis() - plane.started_flying_ms > 10000U) && ahrs.groundspeed() > 3) {
             if (altitude >= alt) {
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 06e18814c5..25c7ff533b 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2636,7 +2636,7 @@ void QuadPlane::vtol_position_controller(void)
             target_speed_xy_cms = diff_wp_norm * target_speed * 100;
             target_accel_cms = diff_wp_norm * (-target_accel*100);
             target_yaw_deg = degrees(diff_wp_norm.angle());
-            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.yaw));
+            const float yaw_err_deg = wrap_180(target_yaw_deg - degrees(plane.ahrs.get_yaw()));
             bool overshoot = (closing_groundspeed < 0 || fabsf(yaw_err_deg) > 60);
             if (overshoot && !poscontrol.overshoot) {
                 gcs().send_text(MAV_SEVERITY_INFO,"VTOL Overshoot d=%.1f cs=%.1f yerr=%.1f",
@@ -3046,7 +3046,7 @@ void QuadPlane::assign_tilt_to_fwd_thr(void) {
 */
 float QuadPlane::get_scaled_wp_speed(float target_bearing_deg) const
 {
-    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.yaw) - target_bearing_deg));
+    const float yaw_difference = fabsf(wrap_180(degrees(plane.ahrs.get_yaw()) - target_bearing_deg));
     const float wp_speed = wp_nav->get_default_speed_xy() * 0.01;
     if (yaw_difference > 20) {
         // this gives a factor of 2x reduction in max speed when