diff --git a/libraries/AP_Rally/AP_Rally.cpp b/libraries/AP_Rally/AP_Rally.cpp
index 05358b25ef..55a5e2f60b 100644
--- a/libraries/AP_Rally/AP_Rally.cpp
+++ b/libraries/AP_Rally/AP_Rally.cpp
@@ -2,8 +2,7 @@
 /// @brief   Handles rally point storage and retrieval.
 #include "AP_Rally.h"
 
-#include <AP_HAL/AP_HAL.h>
-extern const AP_HAL::HAL& hal;
+#include <AP_Logger/AP_Logger.h>
 
 // storage object
 StorageAccess AP_Rally::_storage(StorageManager::StorageRally);
@@ -92,6 +91,11 @@ bool AP_Rally::set_rally_point_with_index(uint8_t i, const RallyLocation &rallyL
 
     _last_change_time_ms = AP_HAL::millis();
 
+    AP_Logger *logger = AP_Logger::instance();
+    if (logger != nullptr) {
+        logger->Write_RallyPoint(_rally_point_total_count, i, rallyLoc);
+    }
+
     return true;
 }