A fast-ion D-alpha (FIDA) diagnostic has been developed for the fully tungsten coated ASDEX Upgrade (AUG) tokamak using 25 toroidally viewing lines of sight and featuring a temporal resolution of 10 ms. The diagnostic's toroidal geometry determines a well-defined region in velocity space which significantly overlaps with the typical fast-ion distribution in AUG plasmas. Background subtraction without beam modulation is possible because relevant parts of the FIDA spectra are free from impurity line contamination. Thus, the temporal evolution of the confined fast-ion distribution function can be monitored continuously. FIDA profiles during on- and off-axis neutral beam injection (NBI) heating are presented which show changes in the radial fast-ion distribution with the different NBI geometries. Good agreement has been obtained between measured and simulated FIDA radial profiles in MHD-quiescent plasmas using fast-ion distribution functions provided by TRANSP. In addition, a large fast-ion redistribution with a drop of about 50% in the central fast-ion population has been observed in the presence of a q = 2 sawtooth-like crash, demonstrating the capabilities of the diagnostic. © 2011 IOP Publishing Ltd.