diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 1a7722f23b..0a2fdfc578 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -46,17 +46,15 @@ const struct Menu::command log_menu_commands[] PROGMEM = {
 // A Macro to create the Menu
 MENU2(log_menu, "Log", log_menu_commands, print_log_menu);
 
-static void get_log_boundaries(byte log_num, int & start_page, int & end_page);
-
 static bool
 print_log_menu(void)
 {
 	int log_start;
 	int log_end;
 	int temp;
-	int last_log_num = find_last_log();
+	int last_log_num = DataFlash.find_last_log();
 
-	uint16_t num_logs = get_num_logs();
+	uint16_t num_logs = DataFlash.get_num_logs();
 
 	Serial.printf_P(PSTR("logs enabled: "));
 
@@ -86,7 +84,7 @@ print_log_menu(void)
 		for(int i=num_logs;i>=1;i--) {
             int last_log_start = log_start, last_log_end = log_end;
 			temp = last_log_num-i+1;
-			get_log_boundaries(temp, log_start, log_end);
+			DataFlash.get_log_boundaries(temp, log_start, log_end);
 			Serial.printf_P(PSTR("Log %d,    start %d,   end %d\n"), temp, log_start, log_end);
             if (last_log_start == log_start && last_log_end == log_end) {
                 // we are printing bogus logs
@@ -108,7 +106,7 @@ dump_log(uint8_t argc, const Menu::arg *argv)
 
 	// check that the requested log number can be read
 	dump_log = argv[1].i;
-	last_log_num = find_last_log();
+	last_log_num = DataFlash.find_last_log();
 
 	if (dump_log == -2) {
 		for(int count=1; count<=DataFlash.df_NumPages; count++) {
@@ -122,12 +120,12 @@ dump_log(uint8_t argc, const Menu::arg *argv)
 		Serial.printf_P(PSTR("dumping all\n"));
 		Log_Read(1, DataFlash.df_NumPages);
 		return(-1);
-	} else if ((argc != 2) || (dump_log <= (last_log_num - get_num_logs())) || (dump_log > last_log_num)) {
+	} else if ((argc != 2) || (dump_log <= (last_log_num - DataFlash.get_num_logs())) || (dump_log > last_log_num)) {
 		Serial.printf_P(PSTR("bad log number\n"));
 		return(-1);
 	}
 
-	get_log_boundaries(dump_log, dump_log_start, dump_log_end);
+	DataFlash.get_log_boundaries(dump_log, dump_log_start, dump_log_end);
 	/*Serial.printf_P(PSTR("Dumping Log number %d,    start %d,   end %d\n"),
 				  dump_log,
 				  dump_log_start,
@@ -138,26 +136,26 @@ dump_log(uint8_t argc, const Menu::arg *argv)
 	return (0);
 }
 
-static void
-do_erase_logs(void (*delay_cb)(unsigned long))
+void erase_callback(unsigned long t) {
+    mavlink_delay(t);
+    if (DataFlash.GetWritePage() % 128 == 0) {
+        Serial.printf_P(PSTR("+"));
+    }
+}
+
+static void do_erase_logs(void)
 {
 	Serial.printf_P(PSTR("\nErasing log...\n"));
-	DataFlash.SetFileNumber(0xFFFF);
-	for(int j = 1; j <= DataFlash.df_NumPages; j++) {
-		DataFlash.PageErase(j);
-		DataFlash.StartWrite(j);		// We need this step to clean FileNumbers
-		if(j%128 == 0) Serial.printf_P(PSTR("+"));
-        delay_cb(1);
-	}
-
+    DataFlash.EraseAll(erase_callback);
 	Serial.printf_P(PSTR("\nLog erased.\n"));
-	DataFlash.FinishWrite();
 }
 
 static int8_t
 erase_logs(uint8_t argc, const Menu::arg *argv)
 {
-    do_erase_logs(delay);
+    in_mavlink_delay = true;
+    do_erase_logs();
+    in_mavlink_delay = false;
     return 0;
 }
 
@@ -216,220 +214,6 @@ process_logs(uint8_t argc, const Menu::arg *argv)
 
 
 
-// This function determines the number of whole or partial log files in the DataFlash
-// Wholly overwritten files are (of course) lost.
-static byte get_num_logs(void)
-{
-	uint16_t lastpage;
-	uint16_t last;
-	uint16_t first;
-
-	if(find_last_page() == 1) return 0;
-
-	DataFlash.StartRead(1);
-
-	if(DataFlash.GetFileNumber() == 0XFFFF) return 0;
-
-	lastpage = find_last_page();
-	DataFlash.StartRead(lastpage);
-	last = DataFlash.GetFileNumber();
-	DataFlash.StartRead(lastpage + 2);
-	first = DataFlash.GetFileNumber();
-	if(first > last) {
-		DataFlash.StartRead(1);
-		first = DataFlash.GetFileNumber();
-	}
-	if(last == first)
-	{
-		return 1;
-	} else {
-		return (last - first + 1);
-	}
-}
-
-// This function starts a new log file in the DataFlash
-static void start_new_log()
-{
-	uint16_t	last_page = find_last_page();
-
-	DataFlash.StartRead(last_page);
-	//Serial.print("last page: ");	Serial.println(last_page);
-	//Serial.print("file #: ");	Serial.println(DataFlash.GetFileNumber());
-	//Serial.print("file page: ");	Serial.println(DataFlash.GetFilePage());
-
-	if(find_last_log() == 0 || DataFlash.GetFileNumber() == 0xFFFF) {
-		DataFlash.SetFileNumber(1);
-		DataFlash.StartWrite(1);
-		//Serial.println("start log from 0");
-		return;
-	}
-
-	// Check for log of length 1 page and suppress
-	if(DataFlash.GetFilePage() <= 1) {
-		DataFlash.SetFileNumber(DataFlash.GetFileNumber());		// Last log too short, reuse its number
-		DataFlash.StartWrite(last_page);					// and overwrite it
-		//Serial.println("start log from short");
-	} else {
-		if(last_page == 0xFFFF) last_page=0;
-		DataFlash.SetFileNumber(DataFlash.GetFileNumber()+1);
-		DataFlash.StartWrite(last_page + 1);
-		//Serial.println("start log normal");
-	}
-}
-
-// This function finds the first and last pages of a log file
-// The first page may be greater than the last page if the DataFlash has been filled and partially overwritten.
-static void get_log_boundaries(byte log_num, int & start_page, int & end_page)
-{
-	int num = get_num_logs();
-	int look;
-	if(num == 1)
-	{
-		DataFlash.StartRead(DataFlash.df_NumPages);
-		if(DataFlash.GetFileNumber() == 0xFFFF)
-		{
-			start_page = 1;
-			end_page = find_last_page_of_log((uint16_t)log_num);
-		} else {
-			end_page = find_last_page_of_log((uint16_t)log_num);
-			start_page = end_page + 1;
-		}
-
-	} else {
-		if(log_num==1) {
-			DataFlash.StartRead(DataFlash.df_NumPages);
-			if(DataFlash.GetFileNumber() == 0xFFFF) {
-				start_page = 1;
-			} else {
-				start_page = find_last_page() + 1;
-			}
-		 } else {
-			if(log_num == find_last_log() - num + 1) {
-				start_page = find_last_page() + 1;
-			} else {
-				look = log_num-1;
-				do {
-				start_page = find_last_page_of_log(look) + 1;
-				look--;
-				} while (start_page <= 0 && look >=1);
-			}
-		}
-	}
-	if(start_page == DataFlash.df_NumPages+1 || start_page == 0) start_page=1;
-	end_page = find_last_page_of_log((uint16_t)log_num);
-	if(end_page <= 0) end_page = start_page;
-}
-
-static bool check_wrapped(void)
-{
-	DataFlash.StartRead(DataFlash.df_NumPages);
-	if(DataFlash.GetFileNumber() == 0xFFFF)
-		return 0;
-	else
-		return 1;
-}
-
-// This funciton finds the last log number
-static int find_last_log(void)
-{
-	int last_page = find_last_page();
-	DataFlash.StartRead(last_page);
-	return DataFlash.GetFileNumber();
-}
-
-// This function finds the last page of the last file
-static int find_last_page(void)
-{
-uint16_t look;
-uint16_t bottom = 1;
-uint16_t top = DataFlash.df_NumPages;
-uint32_t look_hash;
-uint32_t bottom_hash;
-uint32_t top_hash;
-
-		DataFlash.StartRead(bottom);
-		bottom_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
-
-		while(top-bottom > 1)
-		{
-			look = (top+bottom)/2;
-			DataFlash.StartRead(look);
-			look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
-			if (look_hash >= 0xFFFF0000) look_hash = 0;
-
-			if(look_hash < bottom_hash) {
-				// move down
-				top = look;
-			} else {
-				// move up
-				bottom = look;
-				bottom_hash = look_hash;
-			}
-		}
-
-		DataFlash.StartRead(top);
-		top_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
-		if (top_hash >= 0xFFFF0000) top_hash = 0;
-		if (top_hash > bottom_hash)
-		{
-			return top;
-		} else {
-			return bottom;
-		}
-}
-
-// This function finds the last page of a particular log file
-static int find_last_page_of_log(uint16_t log_number)
-{
-
-uint16_t look;
-uint16_t bottom;
-uint16_t top;
-uint32_t look_hash;
-uint32_t check_hash;
-
-	if(check_wrapped())
-	{
-		DataFlash.StartRead(1);
-		bottom = DataFlash.GetFileNumber();
-		if (bottom > log_number)
-		{
-			bottom = find_last_page();
-			top = DataFlash.df_NumPages;
-		} else {
-			bottom = 1;
-			top = find_last_page();
-		}
-	} else {
-		bottom = 1;
-		top = find_last_page();
-	}
-
-	check_hash = (long)log_number<<16 | 0xFFFF;
-	while(top-bottom > 1)
-	{
-		look = (top+bottom)/2;
-		DataFlash.StartRead(look);
-		look_hash = (long)DataFlash.GetFileNumber()<<16 | DataFlash.GetFilePage();
-		if (look_hash >= 0xFFFF0000) look_hash = 0;
-
-		if(look_hash > check_hash) {
-			// move down
-			top = look;
-		} else {
-			// move up
-			bottom = look;
-		}
-	}
-
-	DataFlash.StartRead(top);
-	if (DataFlash.GetFileNumber() == log_number) return top;
-
-	DataFlash.StartRead(bottom);
-	if (DataFlash.GetFileNumber() == log_number) return bottom;
-
-	return -1;
-}
 
 // print_latlon - prints an latitude or longitude value held in an int32_t 
 // probably this should be moved to AP_Common
@@ -1136,7 +920,6 @@ static void Log_Read_Startup() {}
 static void Log_Read(int start_page, int end_page) {}
 static void Log_Write_Cmd(byte num, struct Location *wp) {}
 static void Log_Write_Mode(byte mode) {}
-static void start_new_log() {}
 static void Log_Write_Raw() {}
 static void Log_Write_GPS() {}
 static void Log_Write_Current() {}
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index c12d354d99..02de32f048 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -55,8 +55,6 @@ static void run_cli(void)
 
 static void init_ardupilot()
 {
-    bool need_log_erase = false;
-
 #if USB_MUX_PIN > 0
     // on the APM2 board we have a mux thet switches UART0 between
     // USB and the board header. If the right ArduPPM firmware is
@@ -174,13 +172,6 @@ static void init_ardupilot()
 		delay(100); // wait for serial send
 		AP_Var::erase_all();
 
-		// erase DataFlash on format version change
-		#if LOGGING_ENABLED == ENABLED
-		DataFlash.Init();
-		#endif
-
-		need_log_erase = true;
-
 		// save the new format version
 		g.format_version.set_and_save(Parameters::k_format_version);
 
@@ -212,13 +203,19 @@ static void init_ardupilot()
     // identify ourselves correctly with the ground station
 	mavlink_system.sysid = g.sysid_this_mav;
 
-    if (need_log_erase) {
+#if LOGGING_ENABLED == ENABLED
+    DataFlash.Init();
+    if (!DataFlash.CardInserted()) {
+        gcs_send_text_P(SEVERITY_LOW, PSTR("No dataflash inserted"));
+        g.log_bitmask.set(0);
+    } else if (DataFlash.NeedErase()) {
         gcs_send_text_P(SEVERITY_LOW, PSTR("ERASING LOGS"));
-
-        #if LOGGING_ENABLED == ENABLED
-        do_erase_logs(mavlink_delay);
-        #endif
+		do_erase_logs();
     }
+	if (g.log_bitmask != 0){
+		DataFlash.start_new_log();
+	}
+#endif
 
 	#ifdef RADIO_OVERRIDE_DEFAULTS
 	{
@@ -270,10 +267,6 @@ static void init_ardupilot()
    USERHOOK_INIT
 #endif
 
-	#if LOGGING_ENABLED == ENABLED
-	DataFlash.Init();
-	#endif
-
 #if CLI_ENABLED == ENABLED && CLI_SLIDER_ENABLED == ENABLED
 	// If the switch is in 'menu' mode, run the main menu.
 	//
@@ -290,14 +283,6 @@ static void init_ardupilot()
     Serial.printf_P(PSTR("\nPress ENTER 3 times for CLI\n\n"));
 #endif // CLI_ENABLED
 
-	#if LOGGING_ENABLED == ENABLED
-	if(g.log_bitmask != 0){
-		//	TODO - Here we will check  on the length of the last log
-		//  We don't want to create a bunch of little logs due to powering on and off
-		start_new_log();
-	}
-	#endif
-
     GPS_enabled = false;
 
 	#if HIL_MODE == HIL_MODE_DISABLED
diff --git a/ArduCopter/test.pde b/ArduCopter/test.pde
index 754b9a71b7..4a63b5dcbe 100644
--- a/ArduCopter/test.pde
+++ b/ArduCopter/test.pde
@@ -30,6 +30,7 @@ static int8_t	test_sonar(uint8_t argc, 		const Menu::arg *argv);
 #endif
 static int8_t	test_mag(uint8_t argc, 			const Menu::arg *argv);
 static int8_t	test_optflow(uint8_t argc, 		const Menu::arg *argv);
+static int8_t	test_logging(uint8_t argc, 		const Menu::arg *argv);
 //static int8_t	test_xbee(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_eedump(uint8_t argc, 		const Menu::arg *argv);
 static int8_t	test_rawgps(uint8_t argc, 		const Menu::arg *argv);
@@ -80,6 +81,7 @@ const struct Menu::command test_menu_commands[] PROGMEM = {
 	{"optflow",		test_optflow},
 	//{"xbee",		test_xbee},
 	{"eedump",		test_eedump},
+	{"logging",		test_logging},
 //	{"rawgps",		test_rawgps},
 //	{"mission",		test_mission},
 	//{"reverse",		test_reverse},
@@ -1030,6 +1032,31 @@ test_optflow(uint8_t argc, const Menu::arg *argv)
 }
 
 
+/*
+  test the dataflash is working
+ */
+static int8_t
+test_logging(uint8_t argc, const Menu::arg *argv)
+{
+	Serial.println_P(PSTR("Testing dataflash logging"));
+    if (!DataFlash.CardInserted()) {
+        Serial.println_P(PSTR("ERR: No dataflash inserted"));
+        return 0;
+    }
+    DataFlash.ReadManufacturerID();
+    Serial.printf_P(PSTR("Manufacturer: 0x%02x   Device: 0x%04x\n"),
+                    (unsigned)DataFlash.df_manufacturer,
+                    (unsigned)DataFlash.df_device);
+    Serial.printf_P(PSTR("NumPages: %u  PageSize: %u\n"),
+                    (unsigned)DataFlash.df_NumPages+1,
+                    (unsigned)DataFlash.df_PageSize);
+    DataFlash.StartRead(DataFlash.df_NumPages+1);
+    Serial.printf_P(PSTR("Format version: %lx  Expected format version: %lx\n"),
+                    (unsigned long)DataFlash.ReadLong(), (unsigned long)DF_LOGGING_FORMAT);
+    return 0;
+}
+
+
 /*
 static int8_t
 //test_mission(uint8_t argc, const Menu::arg *argv)