diff --git a/ArduCopter/AP_State.pde b/ArduCopter/AP_State.pde
index 86f490bea1..d0f2590c8e 100644
--- a/ArduCopter/AP_State.pde
+++ b/ArduCopter/AP_State.pde
@@ -13,21 +13,6 @@ void set_home_is_set(bool b)
     }
 }
 
-// ---------------------------------------------
-void set_armed(bool b)
-{
-    // if no change, exit immediately
-    if( ap.armed == b )
-        return;
-
-    ap.armed = b;
-    if(b){
-        Log_Write_Event(DATA_ARMED);
-    }else{
-        Log_Write_Event(DATA_DISARMED);
-    }
-}
-
 // ---------------------------------------------
 void set_auto_armed(bool b)
 {
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 01914d0345..4c1c53c226 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -366,7 +366,7 @@ static union {
 
         uint8_t low_battery        : 1; // 4    // Used to track if the battery is low - LED output flashes when the batt is low
         uint8_t pre_arm_check      : 1; // 5    // true if the radio and accel calibration have been performed
-        uint8_t armed              : 1; // 6
+        uint8_t logging_started    : 1; // 6    // true if dataflash logging has started
         uint8_t auto_armed         : 1; // 7    // stops auto missions from beginning until throttle is raised
 
         uint8_t failsafe_radio     : 1; // 8    // A status flag for the radio failsafe
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index 4f371ef329..fa99470eb1 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -850,7 +850,10 @@ static void Log_Read(uint16_t log_num, uint16_t start_page, uint16_t end_page)
 // start a new log
 static void start_logging() 
 {
-    DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
+    if (g.log_bitmask != 0 && !ap.logging_started) {
+        ap.logging_started = true;
+        DataFlash.StartNewLog(sizeof(log_structure)/sizeof(log_structure[0]), log_structure);
+    }
 }
 
 #else // LOGGING_ENABLED
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 2547fa16bc..e6b43e0cce 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -87,10 +87,12 @@ static void init_arm_motors()
     // which calibrates the IMU
     static bool did_ground_start = false;
 
-    // disable failsafe because initialising everything takes a while
+    // disable cpu failsafe because initialising everything takes a while
     failsafe_disable();
+    
+    // start dataflash
+    start_logging();
 
-    //cliSerial->printf("\nARM\n");
 #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL
     gcs_send_text_P(SEVERITY_HIGH, PSTR("ARMING MOTORS"));
 #endif
@@ -144,7 +146,6 @@ static void init_arm_motors()
 
     // finally actually arm the motors
     motors.armed(true);
-    set_armed(true);
 
     // reenable failsafe
     failsafe_enable();
@@ -191,7 +192,6 @@ static void init_disarm_motors()
 #endif
 
     motors.armed(false);
-    set_armed(false);
 
     compass.save_offsets();
 
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 8f20a04527..1ffe71f74f 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -176,9 +176,6 @@ static void init_ardupilot()
         do_erase_logs();
         gcs0.reset_cli_timeout();
     }
-    if (g.log_bitmask != 0) {
-		start_logging();
-    }
 #endif
 
 #if FRAME_CONFIG == HELI_FRAME