diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp
index 41819238dc..4e2974e6bb 100644
--- a/ArduPlane/quadplane.cpp
+++ b/ArduPlane/quadplane.cpp
@@ -2090,6 +2090,17 @@ void QuadPlane::poscontrol_init_approach(void)
     }
 }
 
+/*
+  log the QPOS message
+ */
+void QuadPlane::log_QPOS(void)
+{
+    AP::logger().WriteStreaming("QPOS", "TimeUS,State,Dist", "QBf",
+                                AP_HAL::micros64(),
+                                poscontrol.get_state(),
+                                plane.auto_state.wp_distance);
+}
+
 /*
   change position control state
  */
@@ -2116,6 +2127,7 @@ void QuadPlane::PosControlState::set_state(enum position_control_state s)
             // reset throttle descent control
             qp.thr_ctrl_land = false;
         }
+        qp.log_QPOS();
     }
     state = s;
     last_state_change_ms = AP_HAL::millis();
@@ -2551,10 +2563,7 @@ void QuadPlane::vtol_position_controller(void)
     if (now_ms - poscontrol.last_log_ms >= 40) {
         // log poscontrol at 25Hz
         poscontrol.last_log_ms = now_ms;
-        AP::logger().WriteStreaming("QPOS", "TimeUS,State,Dist", "QBf",
-                           AP_HAL::micros64(),
-                           poscontrol.get_state(),
-                           plane.auto_state.wp_distance);
+        log_QPOS();
     }
 }
 
diff --git a/ArduPlane/quadplane.h b/ArduPlane/quadplane.h
index eb5a9426e6..61564c2d38 100644
--- a/ArduPlane/quadplane.h
+++ b/ArduPlane/quadplane.h
@@ -249,6 +249,7 @@ private:
     bool should_relax(void);
     void motors_output(bool run_rate_controller = true);
     void Log_Write_QControl_Tuning();
+    void log_QPOS(void);
     float landing_descent_rate_cms(float height_above_ground);
     
     // setup correct aux channels for frame class