diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 6e97b0a1d2..0e9b0c9423 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -512,13 +512,6 @@ void ModeAuto::send_guided_position_target()
 /********************************************************************************/
 bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 {
-#if HAL_LOGGING_ENABLED
-    // log when new commands start
-    if (rover.should_log(MASK_LOG_CMD)) {
-        rover.logger.Write_Mission_Cmd(mission, cmd);
-    }
-#endif
-
     switch (cmd.id) {
     case MAV_CMD_NAV_WAYPOINT:  // Navigate to Waypoint
         return do_nav_wp(cmd, false);
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 51d9bd079d..6911b78b74 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -125,6 +125,9 @@ void Rover::init_ardupilot()
 #if AP_MISSION_ENABLED
     // initialise mission library
     mode_auto.mission.init();
+#if HAL_LOGGING_ENABLED
+    mode_auto.mission.set_log_start_mission_item_bit(MASK_LOG_CMD);
+#endif
 #endif
 
     // initialise AP_Logger library