diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index edec709089..f588facd0a 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -304,7 +304,7 @@ bool AP_Logger_Backend::Write_Mission_Cmd(const AP_Mission &mission,
 {
     mavlink_mission_item_int_t mav_cmd = {};
     AP_Mission::mission_cmd_to_mavlink_int(cmd,mav_cmd);
-    const struct log_Cmd pkt{
+    const struct log_CMD pkt{
         LOG_PACKET_HEADER_INIT(LOG_CMD_MSG),
         time_us         : AP_HAL::micros64(),
         command_total   : mission.num_commands(),
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 96ffea2875..a4f853e240 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -146,6 +146,7 @@ const struct MultiplierStructure log_Multipliers[] = {
 #include <AP_Landing/LogStructure.h>
 #include <AC_AttitudeControl/LogStructure.h>
 #include <AP_HAL/LogStructure.h>
+#include <AP_Mission/LogStructure.h>
 
 // structure used to define logging format
 // It is packed on ChibiOS to save flash space; however, this causes problems
@@ -350,22 +351,6 @@ struct PACKED log_MCU {
     float MCU_voltage_max;
 };
 
-struct PACKED log_Cmd {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    uint16_t command_total;
-    uint16_t sequence;
-    uint16_t command;
-    float param1;
-    float param2;
-    float param3;
-    float param4;
-    int32_t latitude;
-    int32_t longitude;
-    float altitude;
-    uint8_t frame;
-};
-
 struct PACKED log_MAVLink_Command {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -712,21 +697,6 @@ struct PACKED log_VER {
 // @Field: TR: innovation test ratio
 // @Field: Pri: True if sensor is the primary sensor
 
-// @LoggerMessage: CMD
-// @Description: Executed mission command information
-// @Field: TimeUS: Time since system startup
-// @Field: CTot: Total number of mission commands
-// @Field: CNum: This command's offset in mission
-// @Field: CId: Command type
-// @Field: Prm1: Parameter 1
-// @Field: Prm2: Parameter 2
-// @Field: Prm3: Parameter 3
-// @Field: Prm4: Parameter 4
-// @Field: Lat: Command latitude
-// @Field: Lng: Command longitude
-// @Field: Alt: Command altitude
-// @Field: Frame: Frame used for position
-
 // @LoggerMessage: CSRV
 // @Description: Servo feedback data
 // @Field: TimeUS: Time since system startup
@@ -1218,8 +1188,7 @@ LOG_STRUCTURE_FROM_PRECLAND \
       "POWR","QffHHB","TimeUS,Vcc,VServo,Flags,AccFlags,Safety", "svv---", "F00---", true }, \
     { LOG_MCU_MSG, sizeof(log_MCU), \
       "MCU","Qffff","TimeUS,MTemp,MVolt,MVmin,MVmax", "sOvvv", "F0000", true }, \
-    { LOG_CMD_MSG, sizeof(log_Cmd), \
-      "CMD", "QHHHffffLLfB","TimeUS,CTot,CNum,CId,Prm1,Prm2,Prm3,Prm4,Lat,Lng,Alt,Frame", "s-------DUm-", "F-------GG0-" }, \
+LOG_STRUCTURE_FROM_MISSION \
     { LOG_MAVLINK_COMMAND_MSG, sizeof(log_MAVLink_Command), \
       "MAVC", "QBBBBBHffffiifBB","TimeUS,TS,TC,SS,SC,Fr,Cmd,P1,P2,P3,P4,X,Y,Z,Res,WL", "s---------------", "F---------------" }, \
     { LOG_RADIO_MSG, sizeof(log_Radio), \
@@ -1326,7 +1295,6 @@ enum LogMessages : uint8_t {
     LOG_MCU_MSG,
     LOG_IDS_FROM_AHRS,
     LOG_SIMSTATE_MSG,
-    LOG_CMD_MSG,
     LOG_MAVLINK_COMMAND_MSG,
     LOG_RADIO_MSG,
     LOG_ATRP_MSG,
@@ -1337,6 +1305,7 @@ enum LogMessages : uint8_t {
     LOG_IDS_FROM_ESC_TELEM,
     LOG_IDS_FROM_BATTMONITOR,
     LOG_IDS_FROM_HAL_CHIBIOS,
+    LOG_IDS_FROM_MISSION,
 
     LOG_IDS_FROM_GPS,