diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index bf684a0486..84b30fe0f2 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -439,6 +439,32 @@ void Plane::Log_Arm_Disarm() {
     DataFlash.WriteCriticalBlock(&pkt, sizeof(pkt));
 }
 
+
+struct PACKED log_AETR {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;
+    int16_t aileron;
+    int16_t elevator;
+    int16_t throttle;
+    int16_t rudder;
+    int16_t flap;
+};
+
+void Plane::Log_Write_AETR()
+{
+    struct log_AETR pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_AETR_MSG)
+        ,time_us  : AP_HAL::micros64()
+        ,aileron  : SRV_Channels::get_output_scaled(SRV_Channel::k_aileron)
+        ,elevator : SRV_Channels::get_output_scaled(SRV_Channel::k_elevator)
+        ,throttle : SRV_Channels::get_output_scaled(SRV_Channel::k_throttle)
+        ,rudder   : SRV_Channels::get_output_scaled(SRV_Channel::k_rudder)
+        ,flap     : SRV_Channels::get_output_scaled(SRV_Channel::k_flap_auto)
+        };
+
+    DataFlash.WriteBlock(&pkt, sizeof(pkt));
+}
+
 void Plane::Log_Write_GPS(uint8_t instance)
 {
     if (!ahrs.have_ekf_logging()) {
@@ -458,6 +484,7 @@ void Plane::Log_Write_RC(void)
     if (rssi.enabled()) {
         DataFlash.Log_Write_RSSI(rssi);
     }
+    Log_Write_AETR();
 }
 
 void Plane::Log_Write_Baro(void)
@@ -530,6 +557,8 @@ const struct LogStructure Plane::log_structure[] = {
       "PIQY", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }, \
     { LOG_PIQA_MSG, sizeof(log_PID), \
       "PIQA", "Qffffff",  "TimeUS,Des,P,I,D,FF,AFF" }, \
+    { LOG_AETR_MSG, sizeof(log_AETR), \
+      "AETR", "Qhhhhh",  "TimeUS,Ail,Elev,Thr,Rudd,Flap" }, \
 };
 
 #if CLI_ENABLED == ENABLED
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 804103d4a9..4441f63e17 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -846,6 +846,7 @@ private:
     void Log_Write_Home_And_Origin();
     void Log_Write_Vehicle_Startup_Messages();
     void Log_Write_AOA_SSA();
+    void Log_Write_AETR();
     void Log_Read(uint16_t log_num, int16_t start_page, int16_t end_page);
 
     void load_parameters(void);
diff --git a/ArduPlane/defines.h b/ArduPlane/defines.h
index 624efb9efc..ab78f0b0d2 100644
--- a/ArduPlane/defines.h
+++ b/ArduPlane/defines.h
@@ -146,6 +146,7 @@ enum log_messages {
     LOG_PIQP_MSG,
     LOG_PIQY_MSG,
     LOG_PIQA_MSG,
+    LOG_AETR_MSG,
 };
 
 #define MASK_LOG_ATTITUDE_FAST          (1<<0)