diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 7414348b45..5442984189 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -837,7 +837,7 @@ void QuadPlane::update_transition(void)
         assisted_flight = true;
         hold_hover(assist_climb_rate_cms());
         attitude_control->rate_controller_run();
-        motors->output();
+        motors_output();
         last_throttle = motors->get_throttle();
         break;
     }
@@ -856,7 +856,7 @@ void QuadPlane::update_transition(void)
         assisted_flight = true;
         hold_stabilize(throttle_scaled);
         attitude_control->rate_controller_run();
-        motors->output();
+        motors_output();
         break;
     }
 
@@ -889,7 +889,7 @@ void QuadPlane::update(void)
         attitude_control->rate_controller_run();
 
         // output to motors
-        motors->output();
+        motors_output();
         transition_start_ms = 0;
         if (throttle_wait && !plane.is_flying()) {
             transition_state = TRANSITION_DONE;
@@ -908,6 +908,15 @@ void QuadPlane::update(void)
     }
 }
 
+/*
+  output motors and do any copter needed
+ */
+void QuadPlane::motors_output(void)
+{
+    motors->output();
+    plane.DataFlash.Log_Write_Rate(plane.ahrs, *motors, *attitude_control, *pos_control);
+}
+
 /*
   update control mode for quadplane modes
  */
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index fdf5876679..3186981f46 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -128,7 +128,8 @@ private:
     float desired_auto_yaw_rate_cds(void);
 
     bool should_relax(void);
-
+    void motors_output(void);
+    
     // setup correct aux channels for frame class
     void setup_default_channels(uint8_t num_motors);