diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index e6c558dc28c..7cccbe63ce9 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -616,20 +616,20 @@ void GCS_MAVLINK::send_proximity()
 // report AHRS2 state
 void GCS_MAVLINK::send_ahrs2()
 {
-    const AP_AHRS &ahrs = AP::ahrs();
-    Vector3f euler;
-    Location loc {};
-    // we want one or both of these, use | to avoid short-circuiting:
-    if (uint8_t(ahrs.get_secondary_attitude(euler)) |
-        uint8_t(ahrs.get_secondary_position(loc))) {
+    const auto *estimates = AP::ahrs().get_secondary_estimates();
+    if (estimates == nullptr) {
+        return;
+    }
+
+    const Location &loc = estimates->location;
+
         mavlink_msg_ahrs2_send(chan,
-                               euler.x,
-                               euler.y,
-                               euler.z,
+                               estimates->roll_rad,
+                               estimates->pitch_rad,
+                               estimates->yaw_rad,
                                loc.alt*1.0e-2f,
                                loc.lat,
                                loc.lng);
-    }
 }
 #endif  // AP_AHRS_ENABLED