diff --git a/libraries/AP_AHRS/AP_AHRS.cpp b/libraries/AP_AHRS/AP_AHRS.cpp
index 4aa60860cc..32623cfe62 100644
--- a/libraries/AP_AHRS/AP_AHRS.cpp
+++ b/libraries/AP_AHRS/AP_AHRS.cpp
@@ -610,7 +610,7 @@ void AP_AHRS::update_EKF3(void)
             // use the primary IMU for accel earth frame
             Vector3f accel = _ins.get_accel(primary_accel);
             accel -= abias;
-            _accel_ef = _dcm_matrix * accel;
+            _accel_ef = _dcm_matrix * get_rotation_autopilot_body_to_vehicle_body() * accel;
 
             nav_filter_status filt_state;
             EKF3.getFilterStatus(filt_state);