diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
index e7936f4ccc..7258d7d068 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.cpp
+++ b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -459,16 +459,25 @@ bool AP_Logger_Backend::ShouldLog(bool is_critical)
     return true;
 }
 
-void AP_Logger_Backend::PrepForArming()
+// check if we should rotate when arming
+void AP_Logger_Backend::arming_rotate_check(void)
 {
     if (_rotate_pending) {
         _rotate_pending = false;
         stop_logging();
     }
-    if (logging_started()) {
-        return;
+}
+
+/*
+  setup for armed state, starting logging
+  This function is replaced in the File backend
+ */
+void AP_Logger_Backend::PrepForArming()
+{
+    arming_rotate_check();
+    if (!logging_started()) {
+        start_new_log();
     }
-    start_new_log();
 }
 
 bool AP_Logger_Backend::Write_MessageF(const char *fmt, ...)
diff --git a/libraries/AP_Logger/AP_Logger_Backend.h b/libraries/AP_Logger/AP_Logger_Backend.h
index 6d583a0047..76ec09e65a 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.h
+++ b/libraries/AP_Logger/AP_Logger_Backend.h
@@ -144,6 +144,9 @@ protected:
     virtual bool WritesOK() const = 0;
     virtual bool StartNewLogOK() const;
 
+    // check if we should rotate when arming
+    void arming_rotate_check(void);
+
     /*
       read a block
     */
diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 3df650d923..ac7ff4c014 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -435,17 +435,11 @@ bool AP_Logger_File::StartNewLogOK() const
     if (recent_open_error()) {
         return false;
     }
-    if (hal.scheduler->in_main_thread() &&
-        hal.util->get_soft_armed() &&
-        AP_HAL::millis() - hal.util->get_last_armed_change() > 3000) {
-        // when we create the log while arming we are armed and the
-        // creation is in the main loop. We generally don't want to
-        // allow logs to start in main thread while armed, but we
-        // have an exception for the first 3s after arming to allow
-        // for the normal arming process to work. This can be removed
-        // when we move log creation to the logging thread
+#if !APM_BUILD_TYPE(APM_BUILD_Replay)
+    if (hal.scheduler->in_main_thread()) {
         return false;
     }
+#endif
     return AP_Logger_Backend::StartNewLogOK();
 }
 
@@ -715,6 +709,36 @@ void AP_Logger_File::stop_logging(void)
     }
 }
 
+/*
+  wrapper for PrepForArming to move start_new_log to the logger thread
+ */
+void AP_Logger_File::PrepForArming()
+{
+#if APM_BUILD_TYPE(APM_BUILD_Replay)
+    AP_Logger_Backend::PrepForArming();
+#else
+    arming_rotate_check();
+    if (logging_started()) {
+        return;
+    }
+    uint32_t start_ms = AP_HAL::millis();
+    const uint32_t open_limit_ms = 250;
+
+    /*
+      log open happens in the io_timer thread. We allow for a maximum
+      of 250ms to complete the open
+     */
+    start_new_log_pending = true;
+    EXPECT_DELAY_MS(250);
+    while (AP_HAL::millis() - start_ms < open_limit_ms) {
+        if (logging_started()) {
+            break;
+        }
+        hal.scheduler->delay(1);
+    }
+#endif
+}
+
 /*
   start writing to a new log file
  */
@@ -865,6 +889,11 @@ void AP_Logger_File::flush(void)
 
 void AP_Logger_File::io_timer(void)
 {
+    if (start_new_log_pending) {
+        start_new_log();
+        start_new_log_pending = false;
+    }
+
     uint32_t tnow = AP_HAL::millis();
     _io_timer_heartbeat = tnow;
 
diff --git a/libraries/AP_Logger/AP_Logger_File.h b/libraries/AP_Logger/AP_Logger_File.h
index d0c4fa124e..3a50c879db 100644
--- a/libraries/AP_Logger/AP_Logger_File.h
+++ b/libraries/AP_Logger/AP_Logger_File.h
@@ -61,6 +61,7 @@ protected:
 
     bool WritesOK() const override;
     bool StartNewLogOK() const override;
+    void PrepForArming() override;
 
 private:
     int _write_fd = -1;
@@ -134,6 +135,8 @@ private:
     void erase_next(void);
 
     const char *last_io_operation = "";
+
+    bool start_new_log_pending;
 };
 
 #endif // HAL_LOGGING_FILESYSTEM_ENABLED