diff --git a/libraries/AP_Baro/AP_Baro.cpp b/libraries/AP_Baro/AP_Baro.cpp
index fd7a46468f..85129552bb 100644
--- a/libraries/AP_Baro/AP_Baro.cpp
+++ b/libraries/AP_Baro/AP_Baro.cpp
@@ -604,6 +604,20 @@ void AP_Baro::init(void)
 #endif
 }
 
+bool AP_Baro::should_df_log() const
+{
+    DataFlash_Class *instance = DataFlash_Class::instance();
+    if (instance == nullptr) {
+        return false;
+    }
+    if (_log_baro_bit == (uint32_t)-1) {
+        return false;
+    }
+    if (!instance->should_log(_log_baro_bit)) {
+        return false;
+    }
+    return true;
+}
 
 /*
   call update on all drivers
@@ -671,6 +685,11 @@ void AP_Baro::update(void)
             }
         }
     }
+
+    // logging
+    if (should_df_log() && !AP::ahrs().have_ekf_logging()) {
+        DataFlash_Class::instance()->Log_Write_Baro();
+    }
 }
 
 /*
diff --git a/libraries/AP_Baro/AP_Baro.h b/libraries/AP_Baro/AP_Baro.h
index 16a9ebc6ed..1e0e9e7db8 100644
--- a/libraries/AP_Baro/AP_Baro.h
+++ b/libraries/AP_Baro/AP_Baro.h
@@ -174,6 +174,10 @@ public:
 
     uint8_t get_filter_range() const { return _filter_range; }
 
+    // indicate which bit in LOG_BITMASK indicates baro logging enabled
+    void set_log_baro_bit(uint32_t bit) { _log_baro_bit = bit; }
+    bool should_df_log() const;
+
 private:
     // singleton
     static AP_Baro *_instance;
@@ -188,6 +192,8 @@ private:
     // what is the primary sensor at the moment?
     uint8_t _primary;
 
+    uint32_t _log_baro_bit = -1;
+
     struct sensor {
         baro_type_t type;                   // 0 for air pressure (default), 1 for water pressure
         uint32_t last_update_ms;        // last update time in ms