diff --git a/ArduCopter/Attitude.cpp b/ArduCopter/Attitude.cpp
index cc666c262d..42c9e63e8e 100644
--- a/ArduCopter/Attitude.cpp
+++ b/ArduCopter/Attitude.cpp
@@ -53,8 +53,10 @@ float Copter::get_pilot_desired_yaw_rate(int16_t stick_angle)
 void Copter::check_ekf_yaw_reset()
 {
     float yaw_angle_change_rad = 0.0f;
-    if (ahrs.getLastYawResetAngle(yaw_angle_change_rad)) {
+    uint32_t new_ekfYawReset_ms = ahrs.get_NavEKF().getLastYawResetAngle(yaw_angle_change_rad);
+    if (new_ekfYawReset_ms != ekfYawReset_ms) {
         attitude_control.shift_ef_yaw_target(ToDeg(yaw_angle_change_rad) * 100.0f);
+        ekfYawReset_ms = new_ekfYawReset_ms;
     }
 }
 
diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 0ef6474da0..6047243ee4 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -125,7 +125,8 @@ Copter::Copter(void) :
 #endif
     in_mavlink_delay(false),
     gcs_out_of_time(false),
-    param_loader(var_info)
+    param_loader(var_info),
+    ekfYawReset_ms(0)
 {
     memset(&current_loc, 0, sizeof(current_loc));
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 23192976d2..9b0debafb5 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -208,6 +208,8 @@ private:
     // scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
     float ekfNavVelGainScaler;
 
+    uint32_t ekfYawReset_ms;
+
     // GCS selection
     AP_SerialManager serial_manager;
     static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;