diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 8b1f4b3626..634fc8358e 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -3335,10 +3335,10 @@ void AP_AHRS::request_yaw_reset(void)
 }
 
 // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
-void AP_AHRS::set_posvelyaw_source_set(uint8_t source_set_idx)
+void AP_AHRS::set_posvelyaw_source_set(AP_NavEKF_Source::SourceSetSelection source_set_idx)
 {
 #if HAL_NAVEKF3_AVAILABLE
-    EKF3.setPosVelYawSourceSet(source_set_idx);
+    EKF3.setPosVelYawSourceSet((uint8_t)source_set_idx);
 #endif
 }
 
diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index e6d40a6fc5..98cd09fefc 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -417,7 +417,7 @@ public:
     void request_yaw_reset(void);
 
     // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
-    void set_posvelyaw_source_set(uint8_t source_set_idx);
+    void set_posvelyaw_source_set(AP_NavEKF_Source::SourceSetSelection source_set_idx);
 
     //returns index of active source set used, 0=primary, 1=secondary, 2=tertiary
     uint8_t get_posvelyaw_source_set() const;
diff --git a/libraries/AP_AHRS/AP_AHRS_Backend.h b/libraries/AP_AHRS/AP_AHRS_Backend.h
index c309084b48..0e70ce9662 100644
--- a/libraries/AP_AHRS/AP_AHRS_Backend.h
+++ b/libraries/AP_AHRS/AP_AHRS_Backend.h
@@ -25,6 +25,7 @@
 #include <AP_Airspeed/AP_Airspeed.h>
 #include <AP_InertialSensor/AP_InertialSensor.h>
 #include <AP_Common/Location.h>
+#include <AP_NavEKF/AP_NavEKF_Source.h>
 
 #define AP_AHRS_TRIM_LIMIT 10.0f        // maximum trim angle in degrees
 #define AP_AHRS_RP_P_MIN   0.05f        // minimum value for AHRS_RP_P parameter
@@ -117,7 +118,7 @@ public:
     virtual void request_yaw_reset(void) {}
 
     // set position, velocity and yaw sources to either 0=primary, 1=secondary, 2=tertiary
-    virtual void set_posvelyaw_source_set(uint8_t source_set_idx) {}
+    virtual void set_posvelyaw_source_set(AP_NavEKF_Source::SourceSetSelection source_set_idx) {}
 
     // reset the current gyro drift estimate
     //  should be called if gyro offsets are recalculated