diff --git a/libraries/AP_Math/quaternion.cpp b/libraries/AP_Math/quaternion.cpp
index 1cdd67e651..80fbf2d22f 100644
--- a/libraries/AP_Math/quaternion.cpp
+++ b/libraries/AP_Math/quaternion.cpp
@@ -417,6 +417,11 @@ void QuaternionT<T>::from_euler(T roll, T pitch, T yaw)
     q3 = cr2*sp2*cy2 + sr2*cp2*sy2;
     q4 = cr2*cp2*sy2 - sr2*sp2*cy2;
 }
+template <typename T>
+void QuaternionT<T>::from_euler(const Vector3<T> &v)
+{
+    from_euler(v[0], v[1], v[2]);
+}
 
 // create a quaternion from Euler angles applied in yaw, roll, pitch order
 // instead of the normal yaw, pitch, roll order
diff --git a/libraries/AP_Math/quaternion.h b/libraries/AP_Math/quaternion.h
index b6ad586610..3a0c479fa6 100644
--- a/libraries/AP_Math/quaternion.h
+++ b/libraries/AP_Math/quaternion.h
@@ -81,6 +81,7 @@ public:
 
     // create a quaternion from Euler angles
     void        from_euler(T roll, T pitch, T yaw);
+    void        from_euler(const Vector3<T> &v);
 
     // create a quaternion from Euler angles applied in yaw, roll, pitch order
     // instead of the normal yaw, pitch, roll order