diff --git a/libraries/AP_Math/AP_Math.cpp b/libraries/AP_Math/AP_Math.cpp
index c1dc8d3d95..5e31394bc8 100644
--- a/libraries/AP_Math/AP_Math.cpp
+++ b/libraries/AP_Math/AP_Math.cpp
@@ -38,6 +38,41 @@ float fast_atan(float v)
     return (v*(1.6867629106f + v2*0.4378497304f)/(1.6867633134f + v2));
 }
 
+#define FAST_ATAN2_PIBY2_FLOAT  1.5707963f
+// fast_atan2 - faster version of atan2
+//      126 us on AVR cpu vs 199 for regular atan2
+//      absolute error is < 0.005 radians or 0.28 degrees
+//      origin source: https://gist.github.com/volkansalma/2972237/raw/
+float fast_atan2(float y, float x)
+{
+   if (x == 0.0f) {
+       if (y > 0.0f) {
+           return FAST_ATAN2_PIBY2_FLOAT;
+       }
+       if (y == 0.0f) {
+           return 0.0f;
+       }
+       return -FAST_ATAN2_PIBY2_FLOAT;
+   }
+   float atan;
+   float z = y/x;
+   if (fabs( z ) < 1.0f) {
+       atan = z / (1.0f + 0.28f * z * z);
+       if (x < 0.0f) {
+           if (y < 0.0f) {
+               return atan - PI;
+           }
+           return atan + PI;
+       }
+   } else {
+       atan = FAST_ATAN2_PIBY2_FLOAT - (z / (z * z + 0.28f));
+       if (y < 0.0f) {
+           return atan - PI;
+       }
+   }
+   return atan;
+}
+
 #if ROTATION_COMBINATION_SUPPORT
 // find a rotation that is the combination of two other
 // rotations. This is used to allow us to add an overall board
diff --git a/libraries/AP_Math/AP_Math.h b/libraries/AP_Math/AP_Math.h
index 126a64a8e8..9184567a96 100644
--- a/libraries/AP_Math/AP_Math.h
+++ b/libraries/AP_Math/AP_Math.h
@@ -80,6 +80,12 @@ float           safe_sqrt(float v);
 // a faster varient of atan.  accurate to 6 decimal places for values between -1 ~ 1 but then diverges quickly
 float           fast_atan(float v);
 
+// fast_atan2 - faster version of atan2
+//      126 us on AVR cpu vs 199 for regular atan2
+//      absolute error is < 0.005 radians or 0.28 degrees
+//      origin source: https://gist.github.com/volkansalma/2972237/raw/
+float           fast_atan2(float y, float x);
+
 #if ROTATION_COMBINATION_SUPPORT
 // find a rotation that is the combination of two other
 // rotations. This is used to allow us to add an overall board