diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 84b552b77a..a09bbfd7ef 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -76,6 +76,10 @@ void Copter::Log_Write_Attitude()
         logger.Write_PID(LOG_PIDP_MSG, attitude_control->get_rate_pitch_pid().get_pid_info());
         logger.Write_PID(LOG_PIDY_MSG, attitude_control->get_rate_yaw_pid().get_pid_info());
         logger.Write_PID(LOG_PIDA_MSG, pos_control->get_accel_z_pid().get_pid_info() );
+        if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
+            logger.Write_PID(LOG_PIDN_MSG, pos_control->get_vel_xy_pid().get_pid_info_x());
+            logger.Write_PID(LOG_PIDE_MSG, pos_control->get_vel_xy_pid().get_pid_info_y());
+        }
     }
 }