diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index d939b55c9c..0011bd4b82 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -1242,11 +1242,12 @@ void AP_InertialSensor::set_delta_velocity(uint8_t instance, float deltavt, cons
 /*
   set delta angle for next update
  */
-void AP_InertialSensor::set_delta_angle(uint8_t instance, const Vector3f &deltaa)
+void AP_InertialSensor::set_delta_angle(uint8_t instance, const Vector3f &deltaa, float deltaat)
 {
     if (instance < INS_MAX_INSTANCES) {
         _delta_angle_valid[instance] = true;
         _delta_angle[instance] = deltaa;
+        _delta_angle_dt[instance] = deltaat;
     }
 }
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index a305c58a93..61c8158133 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -218,7 +218,7 @@ public:
     void set_gyro(uint8_t instance, const Vector3f &gyro);
     void set_delta_time(float delta_time);
     void set_delta_velocity(uint8_t instance, float deltavt, const Vector3f &deltav);
-    void set_delta_angle(uint8_t instance, const Vector3f &deltaa);
+    void set_delta_angle(uint8_t instance, const Vector3f &deltaa, float deltaat);
 
     AuxiliaryBus *get_auxiliary_bus(int16_t backend_id) { return get_auxiliary_bus(backend_id, 0); }
     AuxiliaryBus *get_auxiliary_bus(int16_t backend_id, uint8_t instance);