diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index 440ee0b7b4..fd5b68917e 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -825,7 +825,8 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
         altitude      : baro.get_altitude(0),
         pressure      : baro.get_pressure(0),
         temperature   : (int16_t)(baro.get_temperature(0) * 100 + 0.5f),
-        climbrate     : baro.get_climb_rate()
+        climbrate     : baro.get_climb_rate(),
+        sample_time_ms: baro.get_last_update(0)
     };
     WriteBlock(&pkt, sizeof(pkt));
 
@@ -836,7 +837,8 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
             altitude      : baro.get_altitude(1),
             pressure	  : baro.get_pressure(1),
             temperature   : (int16_t)(baro.get_temperature(1) * 100 + 0.5f),
-            climbrate     : baro.get_climb_rate()
+            climbrate     : baro.get_climb_rate(),
+            sample_time_ms: baro.get_last_update(1)
         };
         WriteBlock(&pkt2, sizeof(pkt2));        
     }
@@ -848,7 +850,8 @@ void DataFlash_Class::Log_Write_Baro(AP_Baro &baro)
             altitude      : baro.get_altitude(2),
             pressure	  : baro.get_pressure(2),
             temperature   : (int16_t)(baro.get_temperature(2) * 100 + 0.5f),
-            climbrate     : baro.get_climb_rate()
+            climbrate     : baro.get_climb_rate(),
+            sample_time_ms: baro.get_last_update(2)
         };
         WriteBlock(&pkt3, sizeof(pkt3));        
     }
diff --git a/libraries/DataFlash/LogStructure.h b/libraries/DataFlash/LogStructure.h
index aa8635d896..a524f9499a 100644
--- a/libraries/DataFlash/LogStructure.h
+++ b/libraries/DataFlash/LogStructure.h
@@ -185,6 +185,7 @@ struct PACKED log_BARO {
     float   pressure;
     int16_t temperature;
     float   climbrate;
+    uint32_t sample_time_ms;
 };
 
 struct PACKED log_AHRS {
@@ -732,7 +733,7 @@ Format characters in the format string for binary log messages
     { LOG_RSSI_MSG, sizeof(log_RSSI), \
       "RSSI",  "Qf",     "TimeUS,RXRSSI" }, \
     { LOG_BARO_MSG, sizeof(log_BARO), \
-      "BARO",  "Qffcf", "TimeUS,Alt,Press,Temp,CRt" }, \
+      "BARO",  "QffcfI", "TimeUS,Alt,Press,Temp,CRt,SMS" }, \
     { LOG_POWR_MSG, sizeof(log_POWR), \
       "POWR","QCCH","TimeUS,Vcc,VServo,Flags" },  \
     { LOG_CMD_MSG, sizeof(log_Cmd), \