diff --git a/libraries/AP_AHRS/AP_AHRS.h b/libraries/AP_AHRS/AP_AHRS.h
index 00988f1a0a6b9..10f9deed01df9 100644
--- a/libraries/AP_AHRS/AP_AHRS.h
+++ b/libraries/AP_AHRS/AP_AHRS.h
@@ -618,9 +618,9 @@ class AP_AHRS {
     // return current vibration vector for primary IMU
     Vector3f get_vibration(void) const;
 
-    // return primary accels, for lua
+    // return primary accels
     const Vector3f &get_accel(void) const {
-        return AP::ins().get_accel();
+        return AP::ins().get_accel(_get_primary_accel_index());
     }
 
     // return primary accel bias. This should be subtracted from