diff --git a/src/autopilot/ControlNode.cpp b/src/autopilot/ControlNode.cpp
index 6a6babd..224099f 100644
--- a/src/autopilot/ControlNode.cpp
+++ b/src/autopilot/ControlNode.cpp
@@ -407,7 +407,56 @@ void ControlNode::publishCommand(std::string c)
 
 void ControlNode::toogleLogging()
 {
-	// logging has yet to be integrated.
+	// first: always check for /log dir
+	struct stat st;
+	if(stat((packagePath+std::string("/logs")).c_str(),&st) != 0)
+		mkdir((packagePath+std::string("/logs")).c_str(),S_IXGRP | S_IXOTH | S_IXUSR | S_IRWXU | S_IRWXG | S_IROTH);
+
+	char buf[200];
+	bool quitLogging = false;
+	if(logfileControl == 0)
+	{
+		currentLogID = ((long)time(0))*100+(getMS()%100);		// time(0) + ms
+		startedLogClock = getMS();
+		ROS_INFO("\n\nENABLED LOGGING to %s/logs/%ld\n\n\n",packagePath.c_str(),currentLogID);
+		sprintf(buf,"%s/logs/%ld",packagePath.c_str(),currentLogID);
+		mkdir(buf, S_IXGRP | S_IXOTH | S_IXUSR | S_IRWXU | S_IRWXG | S_IROTH);
+
+
+		sprintf(buf,"u l ENABLED LOGGING to %s/logs/%ld",packagePath.c_str(),currentLogID);
+		publishCommand(buf);
+	}
+	else
+		quitLogging = true;
+
+
+
+	// IMU
+	pthread_mutex_lock(&logControl_CS);
+	if(logfileControl == 0)
+	{
+		logfileControl = new std::ofstream();
+		sprintf(buf,"%s/logs/%ld/logControl.txt",packagePath.c_str(),currentLogID);
+		logfileControl->open (buf);
+	}
+	else
+	{
+		logfileControl->flush();
+		logfileControl->close();
+		delete logfileControl;
+		logfileControl = NULL;
+	}
+	pthread_mutex_unlock(&logControl_CS);
+
+
+	if(quitLogging)
+	{
+		printf("\n\nDISABLED LOGGING (logged %ld sec)\n\n\n",(getMS()-startedLogClock+500)/1000);
+		char buf2[200];
+		sprintf(buf,"%s/logs/%ld",packagePath.c_str(),currentLogID);
+		sprintf(buf2,"%s/logs/%ld-%lds",packagePath.c_str(),currentLogID,(getMS()-startedLogClock+500)/1000);
+		rename(buf,buf2);
+	}
 }
 
 void ControlNode::sendControlToDrone(ControlCommand cmd)
diff --git a/src/autopilot/ControlNode.h b/src/autopilot/ControlNode.h
index 26c2613..8946261 100644
--- a/src/autopilot/ControlNode.h
+++ b/src/autopilot/ControlNode.h
@@ -37,6 +37,7 @@
 #include "tum_ardrone/SetStayWithinDistance.h"
 #include "tum_ardrone/SetStayTime.h"
 #include "std_srvs/Empty.h"
+#include <fstream>
 
 class DroneKalmanFilter;
 class MapView;
@@ -146,6 +147,8 @@ struct ControlNode
 	// logging stuff
 	std::ofstream* logfileControl;
 	static pthread_mutex_t logControl_CS;
+	long currentLogID;
+	long startedLogClock;
 	void toogleLogging();	// switches logging on or off.
 
 	// other internals
diff --git a/src/autopilot/DroneController.cpp b/src/autopilot/DroneController.cpp
index e07575e..52af73a 100644
--- a/src/autopilot/DroneController.cpp
+++ b/src/autopilot/DroneController.cpp
@@ -80,6 +80,20 @@ ControlCommand DroneController::update(tum_ardrone::filter_stateConstPtr state)
 		ROS_WARN("Warning: no valid target, sending hover.");
 	}
 
+	if(node->logfileControl != NULL)
+	{
+		pthread_mutex_lock(&node->logControl_CS);
+		if(node->logfileControl != NULL)
+        {
+			(*(node->logfileControl)) << lastTimeStamp << " ";
+
+			for( int i = 0; i < logInfo.size(); i++)
+                (*(node->logfileControl)) << logInfo[i] << " ";
+
+            (*(node->logfileControl)) << "\n";
+        }
+		pthread_mutex_unlock(&node->logControl_CS);
+	}
 	last_err = new_err;
 	return lastSentControl;
 }