diff --git a/libraries/AP_Math/rotations.h b/libraries/AP_Math/rotations.h
index 390f1dcae8..facc593207 100644
--- a/libraries/AP_Math/rotations.h
+++ b/libraries/AP_Math/rotations.h
@@ -64,11 +64,13 @@ enum Rotation : uint8_t {
     ROTATION_ROLL_90_PITCH_180_YAW_90 = 36,
     ROTATION_ROLL_90_YAW_270     = 37,
     ROTATION_ROLL_90_PITCH_68_YAW_293 = 38,
+    ROTATION_PITCH_315           = 39,
+    ROTATION_ROLL_90_PITCH_315   = 40,
     ROTATION_MAX
 };
 /*
 Here are the same values in a form sutable for a @Values attribute in
 auto documentation:
 
-@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180
+@Values: 0:None,1:Yaw45,2:Yaw90,3:Yaw135,4:Yaw180,5:Yaw225,6:Yaw270,7:Yaw315,8:Roll180,9:Roll180Yaw45,10:Roll180Yaw90,11:Roll180Yaw135,12:Pitch180,13:Roll180Yaw225,14:Roll180Yaw270,15:Roll180Yaw315,16:Roll90,17:Roll90Yaw45,18:Roll90Yaw90,19:Roll90Yaw135,20:Roll270,21:Roll270Yaw45,22:Roll270Yaw90,23:Roll270Yaw136,24:Pitch90,25:Pitch270,26:Pitch180Yaw90,27:Pitch180Yaw270,28:Roll90Pitch90,29:Roll180Pitch90,30:Roll270Pitch90,31:Roll90Pitch180,32:Roll270Pitch180,33:Roll90Pitch270,34:Roll180Pitch270,35:Roll270Pitch270,36:Roll90Pitch180Yaw90,37:Roll90Yaw270,38:Yaw293Pitch68Roll180,39:Pitch315,40:Roll90Pitch315
  */
diff --git a/libraries/AP_Math/tests/test_math.cpp b/libraries/AP_Math/tests/test_math.cpp
index b74de69fec..8cdfc14526 100644
--- a/libraries/AP_Math/tests/test_math.cpp
+++ b/libraries/AP_Math/tests/test_math.cpp
@@ -59,6 +59,8 @@ TEST(VectorTest, Rotations)
     TEST_ROTATION(ROTATION_ROLL_90_PITCH_180_YAW_90, 1, -1, -1);
     TEST_ROTATION(ROTATION_ROLL_90_YAW_270, -1, -1, 1);
     TEST_ROTATION(ROTATION_ROLL_90_PITCH_68_YAW_293, -0.4066309f, -1.5839677f, -0.5706992f);
+    TEST_ROTATION(ROTATION_PITCH_315, 0, 1, SQRT_2);
+    TEST_ROTATION(ROTATION_ROLL_90_PITCH_315, 0, -1, SQRT_2);
 
     EXPECT_EQ(ROTATION_MAX, rotation_count) << "All rotations are expect to be tested";
 }
diff --git a/libraries/AP_Math/vector3.cpp b/libraries/AP_Math/vector3.cpp
index 04fd508df8..b541095ccc 100644
--- a/libraries/AP_Math/vector3.cpp
+++ b/libraries/AP_Math/vector3.cpp
@@ -231,6 +231,19 @@ void Vector3<T>::rotate(enum Rotation rotation)
         z = -0.932324f * tmpx +  0.361625f * tmpy +  0.000000f * tmpz;
         return;
     }
+    case ROTATION_PITCH_315: {
+        tmp = HALF_SQRT_2*(float)(x - z);
+        z   = HALF_SQRT_2*(float)(x + z);
+        x = tmp;
+        return;
+    }
+    case ROTATION_ROLL_90_PITCH_315: {
+        tmp = z; z = y; y = -tmp;
+        tmp = HALF_SQRT_2*(float)(x - z);
+        z   = HALF_SQRT_2*(float)(x + z);
+        x = tmp;
+        return;
+    }
     }
 }