diff --git a/EKF/ekf.h b/EKF/ekf.h
index cad5522611..84181828ef 100644
--- a/EKF/ekf.h
+++ b/EKF/ekf.h
@@ -124,6 +124,9 @@ public:
 	// get the accerometer bias in m/s/s
 	void get_accel_bias(float bias[3]);
 
+	// get the gyroscope bias in rad/s
+	void get_gyro_bias(float bias[3]);
+
 	// get GPS check status
 	void get_gps_check_status(uint16_t *_gps_check_fail_status);
 
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
index 100eaebf35..4336ee2ab4 100644
--- a/EKF/ekf_helper.cpp
+++ b/EKF/ekf_helper.cpp
@@ -681,6 +681,16 @@ void Ekf::get_accel_bias(float bias[3])
 	memcpy(bias, temp, 3 * sizeof(float));
 }
 
+// get the gyroscope bias in rad/s
+void Ekf::get_gyro_bias(float bias[3])
+{
+	float temp[3];
+	temp[0] = _state.gyro_bias(0) /_dt_ekf_avg;
+	temp[1] = _state.gyro_bias(1) /_dt_ekf_avg;
+	temp[2] = _state.gyro_bias(2) /_dt_ekf_avg;
+	memcpy(bias, temp, 3 * sizeof(float));
+}
+
 // get the diagonal elements of the covariance matrix
 void Ekf::get_covariances(float *covariances)
 {
diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h
index 4fc0a5b736..44880a9213 100644
--- a/EKF/estimator_interface.h
+++ b/EKF/estimator_interface.h
@@ -201,6 +201,7 @@ public:
 	}
 
 	virtual void get_accel_bias(float bias[3]) = 0;
+	virtual void get_gyro_bias(float bias[3]) = 0;
 
 	// get EKF mode status
 	void get_control_mode(uint16_t *val)