diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index b8f40ef24b..be20444bb9 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -43,6 +43,7 @@ AP_Rally::AP_Rally(AP_AHRS &ahrs, uint16_t max_rally_points, uint16_t rally_star
     : _ahrs(ahrs)
     , _max_rally_points(max_rally_points)
     , _rally_start_byte(rally_start_byte)
+    , _last_change_time_ms(0xFFFFFFFF)
 {
     AP_Param::setup_object_defaults(this, var_info);
 }
@@ -76,6 +77,8 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
 
     hal.storage->write_block(_rally_start_byte + (i * sizeof(RallyLocation)), &rallyLoc, sizeof(RallyLocation));
 
+    _last_change_time_ms = hal.scheduler->millis();
+
     return true;
 }
 
diff --git a/libraries/AP_Rally/AP_Rally.h b/libraries/AP_Rally/AP_Rally.h
index 6491788d17..96a24f3ee5 100644
--- a/libraries/AP_Rally/AP_Rally.h
+++ b/libraries/AP_Rally/AP_Rally.h
@@ -54,6 +54,9 @@ public:
     Location calc_best_rally_or_home_location(const Location &current_loc, float rtl_home_alt) const;
     bool find_nearest_rally_point(const Location &myloc, RallyLocation &ret) const;
 
+    // last time rally points changed
+    uint32_t last_change_time_ms(void) const { return _last_change_time_ms; }
+
     // parameter block
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -66,6 +69,8 @@ private:
     // parameters
     AP_Int8  _rally_point_total_count;
     AP_Float _rally_limit_km;
+
+    uint32_t _last_change_time_ms;
 };