diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
index 4d01ea7072..06abbeed65 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@@ -1098,6 +1098,38 @@ bool AP_AHRS_NavEKF::get_variances(float &velVar, float &posVar, float &hgtVar,
     }
 }
 
+void AP_AHRS_NavEKF::setTakeoffExpected(bool val)
+{
+    switch (ekf_type()) {
+        case EKF_TYPE1:
+            EKF1.setTakeoffExpected(val);
+            break;
+        case EKF_TYPE2:
+            EKF2.setTakeoffExpected(val);
+            break;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        case EKF_TYPE_SITL:
+            break;
+#endif
+    }
+}
+
+void AP_AHRS_NavEKF::setTouchdownExpected(bool val)
+{
+    switch (ekf_type()) {
+        case EKF_TYPE1:
+            EKF1.setTouchdownExpected(val);
+            break;
+        case EKF_TYPE2:
+            EKF2.setTouchdownExpected(val);
+            break;
+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        case EKF_TYPE_SITL:
+            break;
+#endif
+    }
+}
+
 
 #endif // AP_AHRS_NAVEKF_AVAILABLE
 
diff --git a/libraries/AP_AHRS/AP_AHRS_NavEKF.h b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
index 3c1badc266..b4ec5ef72b 100644
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.h
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.h
@@ -197,6 +197,9 @@ public:
     // boolean false is returned if variances are not available
     bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
 
+    void setTakeoffExpected(bool val);
+    void setTouchdownExpected(bool val);
+
 private:
     enum EKF_TYPE {EKF_TYPE_NONE=0,
                    EKF_TYPE1=1,