diff --git a/APMrover2/Log.pde b/APMrover2/Log.pde
index 438696f6d6..6bb8343f17 100644
--- a/APMrover2/Log.pde
+++ b/APMrover2/Log.pde
@@ -371,6 +371,10 @@ static void Log_Write_Attitude()
         yaw     : (uint16_t)ahrs.yaw_sensor
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
+#if AP_AHRS_NAVEKF_AVAILABLE
+    DataFlash.Log_Write_EKF(ahrs);
+    DataFlash.Log_Write_AHRS2(ahrs);
+#endif
 }
 
 struct PACKED log_Mode {