diff --git a/ROMFS/px4fmu_common/init.d/rc.logging b/ROMFS/px4fmu_common/init.d/rc.logging
index 86fc1e0421..d5a7bf293a 100644
--- a/ROMFS/px4fmu_common/init.d/rc.logging
+++ b/ROMFS/px4fmu_common/init.d/rc.logging
@@ -23,6 +23,12 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -x"
 fi
 
+if param compare SDLOG_MODE 4
+then
+	set LOGGER_ARGS "${LOGGER_ARGS} -a"
+fi
+
+
 if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index b4b458f5ff..ddb2ce9bf3 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -257,7 +257,7 @@ Logger *Logger::instantiate(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "r:b:etfm:p:xc:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "r:b:aetfm:p:xc:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'r': {
 				unsigned long r = strtoul(myoptarg, nullptr, 10);
@@ -291,6 +291,10 @@ Logger *Logger::instantiate(int argc, char *argv[])
 			log_mode = Logger::LogMode::boot_until_shutdown;
 			break;
 
+		case 'a':
+			log_mode = Logger::LogMode::arm_until_shutdown;
+			break;
+
 		case 'b': {
 				unsigned long s = strtoul(myoptarg, nullptr, 10);
 
@@ -1113,7 +1117,8 @@ bool Logger::start_stop_logging()
 
 		if (_vehicle_status_sub.update(&vehicle_status)) {
 
-			desired_state = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
+			desired_state = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (_prev_state
+					&& _log_mode == LogMode::arm_until_shutdown);
 			updated = true;
 		}
 	}
@@ -2405,6 +2410,7 @@ $ logger on
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('m', "all", "file|mavlink|all", "Backend mode", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('x', "Enable/disable logging via Aux1 RC channel", true);
+	PRINT_MODULE_USAGE_PARAM_FLAG('a', "Log 1st armed until shutdown", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('e', "Enable logging right after start until disarm (otherwise only when armed)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('f', "Log until shutdown (implies -e)", true);
 	PRINT_MODULE_USAGE_PARAM_FLAG('t', "Use date/time for naming log directories and files", true);
diff --git a/src/modules/logger/logger.h b/src/modules/logger/logger.h
index c2ca821d2b..c397600ad2 100644
--- a/src/modules/logger/logger.h
+++ b/src/modules/logger/logger.h
@@ -87,7 +87,8 @@ public:
 		while_armed = 0,
 		boot_until_disarm,
 		boot_until_shutdown,
-		rc_aux1
+		rc_aux1,
+		arm_until_shutdown,
 	};
 
 	Logger(LogWriter::Backend backend, size_t buffer_size, uint32_t log_interval, const char *poll_topic_name,
diff --git a/src/modules/logger/params.c b/src/modules/logger/params.c
index 2fe6b07c19..218ebf896c 100644
--- a/src/modules/logger/params.c
+++ b/src/modules/logger/params.c
@@ -60,6 +60,7 @@ PARAM_DEFINE_INT32(SDLOG_UTC_OFFSET, 0);
  * @value 1 from boot until disarm
  * @value 2 from boot until shutdown
  * @value 3 depending on AUX1 RC channel
+ * @value 4 from 1st armed until shutdown
  *
  * @reboot_required true
  * @group SD Logging