diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 70589b778b..449bbfe4e1 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -2795,6 +2795,12 @@ void NavEKF::getEulerAngles(Vector3f &euler) const
     euler = euler - _ahrs->get_trim();
 }
 
+// This returns the specific forces in the NED frame
+void NavEKF::getAccelNED(Vector3f &accelNED) const {
+    accelNED = velDotNED;
+    accelNED.z -= GRAVITY_MSS;
+}
+
 // return NED velocity in m/s
 void NavEKF::getVelNED(Vector3f &vel) const
 {
diff --git a/libraries/AP_NavEKF/AP_NavEKF.h b/libraries/AP_NavEKF/AP_NavEKF.h
index 8c3be28c05..d3ab834fcf 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.h
+++ b/libraries/AP_NavEKF/AP_NavEKF.h
@@ -102,6 +102,9 @@ public:
     // return NED velocity in m/s
     void getVelNED(Vector3f &vel) const;
 
+    // This returns the specific forces in the NED frame
+    void getAccelNED(Vector3f &accelNED) const;
+
     // return body axis gyro bias estimates in rad/sec
     void getGyroBias(Vector3f &gyroBias) const;