diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index a5aace188f..add71875dc 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -566,7 +566,9 @@ void Copter::loop_rate_logging()
 // should be run at 10hz
 void Copter::ten_hz_logging_loop()
 {
-    // log attitude data if we're not already logging at the higher rate
+    // always write AHRS attitude at 10Hz
+    ahrs.Write_Attitude(attitude_control->get_att_target_euler_rad() * RAD_TO_DEG);
+    // log attitude controller data if we're not already logging at the higher rate
     if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST) && !copter.flightmode->logs_attitude()) {
         Log_Write_Attitude();
     }
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index cb07bd3d9a..fffea298f1 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -75,7 +75,7 @@ void Copter::Log_Write_Control_Tuning()
 // Write an attitude packet
 void Copter::Log_Write_Attitude()
 {
-    ahrs.Write_Attitude(attitude_control->get_att_target_euler_rad() * RAD_TO_DEG);
+    attitude_control->Write_ANG();
     attitude_control->Write_Rate(*pos_control);
 }