diff --git a/ArduSub/ArduSub.cpp b/ArduSub/ArduSub.cpp
index b66dc2b644a857..10f56e55b5d9e6 100644
--- a/ArduSub/ArduSub.cpp
+++ b/ArduSub/ArduSub.cpp
@@ -183,6 +183,7 @@ void Sub::ten_hz_logging_loop()
     // log attitude data if we're not already logging at the higher rate
     if (should_log(MASK_LOG_ATTITUDE_MED) && !should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
+        attitude_control.Write_Attitude();
         attitude_control.Write_Rate(pos_control);
         if (should_log(MASK_LOG_PID)) {
             logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());
@@ -222,6 +223,7 @@ void Sub::twentyfive_hz_logging()
 {
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
+        attitude_control.Write_Attitude();
         attitude_control.Write_Rate(pos_control);
         if (should_log(MASK_LOG_PID)) {
             logger.Write_PID(LOG_PIDR_MSG, attitude_control.get_rate_roll_pid().get_pid_info());