diff --git a/libraries/DataFlash/DataFlash.h b/libraries/DataFlash/DataFlash.h
index fe0f6f2c25..d530454cab 100644
--- a/libraries/DataFlash/DataFlash.h
+++ b/libraries/DataFlash/DataFlash.h
@@ -47,6 +47,7 @@ public:
     void Log_Write_Parameter(const char *name, float value);
     void Log_Write_GPS(const GPS *gps, int32_t relative_alt);
     void Log_Write_IMU(const AP_InertialSensor &ins);
+    void Log_Write_IMU2(const AP_InertialSensor &ins);
     void Log_Write_RCIN(void);
     void Log_Write_RCOUT(void);
     void Log_Write_Message(const char *message);
@@ -204,6 +205,8 @@ struct PACKED log_RCOUT {
       "GPS",  "BIHBcLLeeEefI", "Status,TimeMS,Week,NSats,HDop,Lat,Lng,RelAlt,Alt,Spd,GCrs,VZ,T" }, \
     { LOG_IMU_MSG, sizeof(log_IMU), \
       "IMU",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
+    { LOG_IMU2_MSG, sizeof(log_IMU), \
+      "IMU2",  "Iffffff",     "TimeMS,GyrX,GyrY,GyrZ,AccX,AccY,AccZ" }, \
     { LOG_MESSAGE_MSG, sizeof(log_Message), \
       "MSG",  "Z",     "Message"}, \
     { LOG_RCIN_MSG, sizeof(log_RCIN), \
@@ -219,6 +222,7 @@ struct PACKED log_RCOUT {
 #define LOG_MESSAGE_MSG	  132
 #define LOG_RCIN_MSG      133
 #define LOG_RCOUT_MSG     134
+#define LOG_IMU2_MSG	  135
 
 #include "DataFlash_Block.h"
 #include "DataFlash_File.h"
diff --git a/libraries/DataFlash/LogFile.cpp b/libraries/DataFlash/LogFile.cpp
index c09627b586..753b9cf9b5 100644
--- a/libraries/DataFlash/LogFile.cpp
+++ b/libraries/DataFlash/LogFile.cpp
@@ -702,6 +702,29 @@ void DataFlash_Class::Log_Write_IMU(const AP_InertialSensor &ins)
     WriteBlock(&pkt, sizeof(pkt));
 }
 
+// Write an raw accel/gyro data packet
+void DataFlash_Class::Log_Write_IMU2(const AP_InertialSensor &ins)
+{
+    if (ins.get_gyro_count() < 2 && ins.get_accel_count() < 2) {
+        return;
+    }
+    Vector3f gyro;
+    Vector3f accel;
+    ins.get_gyro_instance(1, gyro);
+    ins.get_accel_instance(1, accel);
+    struct log_IMU pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_IMU2_MSG),
+        timestamp : hal.scheduler->millis(),
+        gyro_x  : gyro.x,
+        gyro_y  : gyro.y,
+        gyro_z  : gyro.z,
+        accel_x : accel.x,
+        accel_y : accel.y,
+        accel_z : accel.z
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
 // Write a text message to the log
 void DataFlash_Class::Log_Write_Message(const char *message)
 {