diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index 3dd27a43d5..c9d99f97f3 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -164,10 +164,17 @@ void Plane::Log_Write_Attitude(void)
     targets.z = 0;          //Plane does not have the concept of navyaw. This is a placeholder.
 
     DataFlash.Log_Write_Attitude(ahrs, targets);
-    DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
-    DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
-    DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
-    DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
+    if (quadplane.in_vtol_mode()) {
+        DataFlash.Log_Write_PID(LOG_PIDR_MSG, quadplane.pid_rate_roll.get_pid_info() );
+        DataFlash.Log_Write_PID(LOG_PIDP_MSG, quadplane.pid_rate_pitch.get_pid_info() );
+        DataFlash.Log_Write_PID(LOG_PIDY_MSG, quadplane.pid_rate_yaw.get_pid_info() );
+        DataFlash.Log_Write_PID(LOG_PIDA_MSG, quadplane.pid_accel_z.get_pid_info() );
+    } else {
+        DataFlash.Log_Write_PID(LOG_PIDR_MSG, rollController.get_pid_info());
+        DataFlash.Log_Write_PID(LOG_PIDP_MSG, pitchController.get_pid_info());
+        DataFlash.Log_Write_PID(LOG_PIDY_MSG, yawController.get_pid_info());
+        DataFlash.Log_Write_PID(LOG_PIDS_MSG, steerController.get_pid_info());
+    }
 
 #if AP_AHRS_NAVEKF_AVAILABLE
  #if OPTFLOW == ENABLED
diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index e8d5c97803..96822f48b8 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -989,6 +989,17 @@ bool QuadPlane::in_vtol_auto(void)
     }
 }
 
+/*
+  are we in a VTOL mode?
+ */
+bool QuadPlane::in_vtol_mode(void)
+{
+    return (plane.control_mode == QSTABILIZE ||
+            plane.control_mode == QHOVER ||
+            plane.control_mode == QLOITER ||
+            in_vtol_auto());
+}
+
 /*
   handle auto-mode when auto_state.vtol_mode is true
  */
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index 8653770ca8..6a64831aca 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -47,6 +47,7 @@ public:
     bool verify_vtol_takeoff(const AP_Mission::Mission_Command &cmd);
     bool verify_vtol_land(const AP_Mission::Mission_Command &cmd);
     bool in_vtol_auto(void);
+    bool in_vtol_mode(void);
 
     // vtol help for is_flying()
     bool is_flying(void);