diff --git a/src/comm/LinkInterface.h b/src/comm/LinkInterface.h
index e04ecc4ffd776fd03e6524f5fbfa1c84df1720af..2af1f66ce898d3231795abb2223653fbf1e5d856 100644
--- a/src/comm/LinkInterface.h
+++ b/src/comm/LinkInterface.h
@@ -181,6 +181,16 @@ signals:
      */
     void bytesReceived(LinkInterface* link, QByteArray data);
 
+    /**
+     * @brief New data has been sent
+     * *
+     * The new data is contained in the QByteArray data.
+     * The data is logged into telemetry logging system
+     *
+     * @param data the new bytes
+     */
+    void bytesSent(LinkInterface* link, QByteArray data);
+
     /**
      * @brief This signal is emitted instantly when the link is connected
      **/
diff --git a/src/comm/LinkManager.cc b/src/comm/LinkManager.cc
index caa4d09230c4f72fc0ff75bcbe537b5e928f5b0f..7ca89eb1767dfceb87205bffc69f379c8cf4b799 100644
--- a/src/comm/LinkManager.cc
+++ b/src/comm/LinkManager.cc
@@ -199,6 +199,7 @@ void LinkManager::_addLink(LinkInterface* link)
 
     connect(link, &LinkInterface::communicationError,   _app,               &QGCApplication::criticalMessageBoxOnMainThread);
     connect(link, &LinkInterface::bytesReceived,        _mavlinkProtocol,   &MAVLinkProtocol::receiveBytes);
+    connect(link, &LinkInterface::bytesSent,            _mavlinkProtocol,   &MAVLinkProtocol::logSentBytes);
 
     _mavlinkProtocol->resetMetadataForLink(link);
     _mavlinkProtocol->setVersion(_mavlinkProtocol->getCurrentVersion());
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index f5a52d11bb74f66b4c197b685470ec8e1c38d634..e1a159dbaf9a67fc45974b714e09379a690c7034 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -159,6 +159,52 @@ void MAVLinkProtocol::resetMetadataForLink(LinkInterface *link)
     link->setDecodedFirstMavlinkPacket(false);
 }
 
+/**
+ * This method parses all outcoming bytes and log a MAVLink packet.
+ * @param link The interface to read from
+ * @see LinkInterface
+ **/
+
+void MAVLinkProtocol::logSentBytes(LinkInterface* link, QByteArray b){
+
+    uint8_t mavlinkChannel = link->mavlinkChannel();
+    static mavlink_message_t _sent_message;
+
+    for (int position = 0; position < b.size(); position++) {
+
+        if(mavlink_parse_char(mavlinkChannel, static_cast<uint8_t>(b[position]), &_sent_message, &_status)){
+
+            if (!_logSuspendError && !_logSuspendReplay && _tempLogFile.isOpen()) {
+                uint8_t buf[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+
+                // Write the uint64 time in microseconds in big endian format before the message.
+                // This timestamp is saved in UTC time. We are only saving in ms precision because
+                // getting more than this isn't possible with Qt without a ton of extra code.
+                quint64 time = static_cast<quint64>(QDateTime::currentMSecsSinceEpoch() * 1000);
+                qToBigEndian(time, buf);
+
+                // Then write the message to the buffer
+                int len = mavlink_msg_to_send_buffer(buf + sizeof(quint64), &_sent_message);
+
+                // Determine how many bytes were written by adding the timestamp size to the message size
+                len += sizeof(quint64);
+
+                // Now write this timestamp/message pair to the log.
+                QByteArray b(reinterpret_cast<const char*>(buf), len);
+
+                if(_tempLogFile.write(b) != len)
+                {
+                    // If there's an error logging data, raise an alert and stop logging.
+                    emit protocolStatusMessage(tr("MAVLink Protocol"), tr("MAVLink Logging failed. Could not write to file %1, logging disabled.").arg(_tempLogFile.fileName()));
+                    _stopLogging();
+                    _logSuspendError = true;
+                }
+            }
+        }
+    }
+
+}
+
 /**
  * This method parses all incoming bytes and constructs a MAVLink packet.
  * It can handle multiple links in parallel, as each link has it's own buffer/
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index 7614ee658be9cad6ab00a638b427fae155de7024..06a155ac32d0625b6c123dae5484d01aae17a546 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -81,6 +81,9 @@ public:
 public slots:
     /** @brief Receive bytes from a communication interface */
     void receiveBytes(LinkInterface* link, QByteArray b);
+
+    /** @brief Log bytes sent from a communication interface */
+    void logSentBytes(LinkInterface* link, QByteArray b);
     
     /** @brief Set the system id of this application */
     void setSystemId(int id);
diff --git a/src/comm/TCPLink.cc b/src/comm/TCPLink.cc
index dddbf76cb64c09340db0d12d2af1ec1a9e44ef82..82dd895ca82ac10c85c61e87f00b9a9ec649c7c9 100644
--- a/src/comm/TCPLink.cc
+++ b/src/comm/TCPLink.cc
@@ -81,6 +81,7 @@ void TCPLink::_writeBytes(const QByteArray data)
 
     if (_socket) {
         _socket->write(data);
+        emit bytesSent(this, data);
         _logOutputDataRate(data.size(), QDateTime::currentMSecsSinceEpoch());
     }
 }
diff --git a/src/comm/UDPLink.cc b/src/comm/UDPLink.cc
index 1642b9d92fca1dba7b634d578df163d69db75a0b..19db3085703948a543a22416c42f526d50b75c2d 100644
--- a/src/comm/UDPLink.cc
+++ b/src/comm/UDPLink.cc
@@ -169,6 +169,7 @@ void UDPLink::_writeBytes(const QByteArray data)
     if (!_socket) {
         return;
     }
+    emit bytesSent(this, data);
     // Send to all manually targeted systems
     for(UDPCLient* target: _udpConfig->targetHosts()) {
         // Skip it if it's part of the session clients below