diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index ac3333f434..38093ef03c 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -636,13 +636,13 @@ Format characters in the format string for binary log messages
     { LOG_COMPASS_MSG, sizeof(log_Compass), \
       "MAG", "QhhhhhhhhhB",    "TimeUS,MagX,MagY,MagZ,OfsX,OfsY,OfsZ,MOfsX,MOfsY,MOfsZ,Health" }, \
     { LOG_MODE_MSG, sizeof(log_Mode), \
-      "MODE", "QMB",         "TimeUS,Mode,ModeNum" } \
+      "MODE", "QMB",         "TimeUS,Mode,ModeNum" }, \
     { LOG_PIDR_MSG, sizeof(log_PID), \
       "PIDR", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }, \
     { LOG_PIDP_MSG, sizeof(log_PID), \
       "PIDP", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }, \
     { LOG_PIDY_MSG, sizeof(log_PID), \
-      "PIDY", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" } \
+      "PIDY", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }, \
     { LOG_PIDA_MSG, sizeof(log_PID), \
       "PIDA", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }
 
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index aadaa0eca1..aa2425d05a 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -1333,7 +1333,7 @@ void DataFlash_Class::Log_Write_PID(uint8_t msg_type, const PID_Info &info)
 {
     struct log_PID pkt = {
         LOG_PACKET_HEADER_INIT(msg_type),
-        time_ms         : hal.scheduler->millis(),
+        time_us         : hal.scheduler->micros64(),
         desired         : info.desired,
         P               : info.P,
         I               : info.I,