diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index 34ddadb754..21618d1da3 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -125,6 +125,12 @@ public:
         return *this = *this / num;
     }
 
+    // allow a Matrix3 to be used as an array of vectors, 0 indexed
+    Vector3<T> & operator[](uint8_t i) {
+        Vector3<T> *_v = &a;
+        return _v[i];
+    }
+
     // multiplication by a vector
     Vector3<T> operator         *(const Vector3<T> &v) const;
 
diff --git a/libraries/AP_Math/vector3.h b/libraries/AP_Math/vector3.h
index 83b31a6b90..403b62e50b 100644
--- a/libraries/AP_Math/vector3.h
+++ b/libraries/AP_Math/vector3.h
@@ -111,6 +111,12 @@ public:
     // uniform scaling
     Vector3<T> &operator /=(const T num);
 
+    // allow a vector3 to be used as an array, 0 indexed
+    T & operator[](uint8_t i) {
+        T *_v = &x;
+        return _v[i];
+    }
+
     // dot product
     T operator *(const Vector3<T> &v) const;