diff --git a/libraries/AP_Terrain/AP_Terrain.cpp b/libraries/AP_Terrain/AP_Terrain.cpp
index d0e000259d..c73c62a6e9 100644
--- a/libraries/AP_Terrain/AP_Terrain.cpp
+++ b/libraries/AP_Terrain/AP_Terrain.cpp
@@ -19,6 +19,7 @@
 #include <AP_Math.h>
 #include <GCS_MAVLink.h>
 #include <GCS.h>
+#include <DataFlash.h>
 #include "AP_Terrain.h"
 
 #if AP_TERRAIN_AVAILABLE
@@ -281,4 +282,40 @@ enum AP_Terrain::TerrainStatus AP_Terrain::status(void)
     return TerrainStatusOK; 
 }
 
+/*
+  log terrain data to dataflash log
+ */
+void AP_Terrain::log_terrain_data(DataFlash_Class &dataflash)
+{
+    if (!enable) {
+        return;
+    }
+    Location loc;
+    if (!ahrs.get_position(loc)) {
+        // we don't know where we are
+        return;
+    }
+    float terrain_height = 0;
+    float current_height = 0;
+    uint16_t pending, loaded;
+
+    height_amsl(loc, terrain_height);
+    height_above_terrain(current_height, true);
+    get_statistics(pending, loaded);
+
+    struct log_TERRAIN pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_TERRAIN_MSG),
+        time_ms        : hal.scheduler->millis(),
+        status         : (uint8_t)status(),
+        lat            : loc.lat,
+        lng            : loc.lng,
+        spacing        : grid_spacing,
+        terrain_height : terrain_height,
+        current_height : current_height,
+        pending        : pending,
+        loaded         : loaded
+    };
+    dataflash.WriteBlock(&pkt, sizeof(pkt));
+}
+
 #endif // AP_TERRAIN_AVAILABLE
diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index ede22547de..190bbdfc45 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -19,6 +19,7 @@
 
 #include <AP_Common.h>
 #include <AP_HAL.h>
+#include <DataFlash.h>
 
 #if HAL_OS_POSIX_IO && defined(HAL_BOARD_TERRAIN_DIRECTORY)
 #define AP_TERRAIN_AVAILABLE 1
@@ -151,6 +152,11 @@ public:
     */
     bool height_above_terrain(float &terrain_altitude, bool extrapolate = false);
 
+    /*
+      log terrain status to DataFlash
+     */
+    void log_terrain_data(DataFlash_Class &dataflash);
+
 private:
     // allocate the terrain subsystem data
     void allocate(void);