diff --git a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
index bc73b20102f..08c9486df58 100644
--- a/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
+++ b/libraries/AP_WheelEncoder/AP_WheelEncoder.cpp
@@ -15,6 +15,7 @@
 
 #include "AP_WheelEncoder.h"
 #include "WheelEncoder_Quadrature.h"
+#include <AP_Logger/AP_Logger.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -182,6 +183,25 @@ void AP_WheelEncoder::update(void)
     }
 }
 
+// log wheel encoder information
+void AP_WheelEncoder::Log_Write()
+{
+    // return immediately if no wheel encoders are enabled
+    if (!enabled(0) && !enabled(1)) {
+        return;
+    }
+
+    struct log_WheelEncoder pkt = {
+        LOG_PACKET_HEADER_INIT(LOG_WHEELENCODER_MSG),
+        time_us     : AP_HAL::micros64(),
+        distance_0  : get_distance(0),
+        quality_0   : (uint8_t)get_signal_quality(0),
+        distance_1  : get_distance(1),
+        quality_1   : (uint8_t)get_signal_quality(1),
+    };
+    AP::logger().WriteBlock(&pkt, sizeof(pkt));
+}
+
 // check if an instance is healthy
 bool AP_WheelEncoder::healthy(uint8_t instance) const
 {
diff --git a/libraries/AP_WheelEncoder/AP_WheelEncoder.h b/libraries/AP_WheelEncoder/AP_WheelEncoder.h
index 7102bba808b..847fc305464 100644
--- a/libraries/AP_WheelEncoder/AP_WheelEncoder.h
+++ b/libraries/AP_WheelEncoder/AP_WheelEncoder.h
@@ -62,6 +62,9 @@ public:
     // update state of all sensors. Should be called from main loop
     void update(void);
 
+    // log data to logger
+    void Log_Write();
+
     // return the number of wheel encoder sensor instances
     uint8_t num_sensors(void) const { return num_instances; }