diff --git a/libraries/APM_Control/AP_AutoTune.cpp b/libraries/APM_Control/AP_AutoTune.cpp
index 688db3ad39..1b0d759199 100644
--- a/libraries/APM_Control/AP_AutoTune.cpp
+++ b/libraries/APM_Control/AP_AutoTune.cpp
@@ -66,8 +66,6 @@ extern const AP_HAL::HAL& hal;
 #define AUTOTUNE_MIN_IMAX 2000
 #define AUTOTUNE_MAX_IMAX 4000
 
-bool AP_AutoTune::logging_started = false;
-
 // constructor
 AP_AutoTune::AP_AutoTune(ATGains &_gains, ATType _type,
                          const AP_Vehicle::FixedWing &parms,
@@ -290,42 +288,14 @@ void AP_AutoTune::save_gains(const ATGains &v)
     last_save = current;
 }
 
-#define LOG_MSG_ATRP 211
-
-struct PACKED log_ATRP {
-    LOG_PACKET_HEADER;
-    uint32_t timestamp;
-    uint8_t  type;
-    uint8_t  state;
-    int16_t  servo;
-    float    demanded;
-    float    achieved;
-    float    P;
-};
-
-static const struct LogStructure at_log_structures[] PROGMEM = {
-    { LOG_MSG_ATRP, sizeof(log_ATRP),
-      "ATRP", "IBBcfff",  "TimeMS,Type,State,Servo,Demanded,Achieved,P" },
-};
-
-void AP_AutoTune::write_log_headers(void)
-{
-    if (!logging_started) {
-        logging_started = true;
-        dataflash.AddLogFormats(at_log_structures, 1);
-    }
-}
-
 void AP_AutoTune::write_log(float servo, float demanded, float achieved)
 {
     if (!dataflash.logging_started()) {
         return;
     }
 
-    write_log_headers();
-
     struct log_ATRP pkt = {
-        LOG_PACKET_HEADER_INIT(LOG_MSG_ATRP),
+        LOG_PACKET_HEADER_INIT(LOG_ATRP_MSG),
         timestamp  : hal.scheduler->millis(),
         type       : type,
     	state      : (uint8_t)state,
diff --git a/libraries/APM_Control/AP_AutoTune.h b/libraries/APM_Control/AP_AutoTune.h
index 700f92db40..fd7b60ff14 100644
--- a/libraries/APM_Control/AP_AutoTune.h
+++ b/libraries/APM_Control/AP_AutoTune.h
@@ -23,6 +23,18 @@ public:
         AUTOTUNE_PITCH = 1
     };
 
+    struct PACKED log_ATRP {
+        LOG_PACKET_HEADER;
+        uint32_t timestamp;
+        uint8_t  type;
+        uint8_t  state;
+        int16_t  servo;
+        float    demanded;
+        float    achieved;
+        float    P;
+    };
+
+
     // constructor
     AP_AutoTune(ATGains &_gains, ATType type, const AP_Vehicle::FixedWing &parms, DataFlash_Class &_dataflash);
 
@@ -54,9 +66,6 @@ private:
     // did we saturate surfaces?
     bool saturated_surfaces:1;
 
-    // have we sent log headers
-    static bool logging_started;
-
     // values to restore if we leave autotune mode
     ATGains restore;