diff --git a/Blimp/Loiter.cpp b/Blimp/Loiter.cpp
index 52e85f1b536990..2553e6d3e7c65e 100644
--- a/Blimp/Loiter.cpp
+++ b/Blimp/Loiter.cpp
@@ -1,5 +1,7 @@
 #include "Blimp.h"
 
+#include <AC_AttitudeControl/AC_PosControl.h>
+
 #define MA 0.99
 #define MO (1-MA)
 
@@ -123,9 +125,9 @@ void Loiter::run(Vector3f& target_pos, float& target_yaw, Vector4b axes_disabled
     }
 
 #if HAL_LOGGING_ENABLED
-    AP::logger().Write_PSCN(target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
-    AP::logger().Write_PSCE(target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
-    AP::logger().Write_PSCD(-target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCN(target_pos.x * 100.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCE(target_pos.y * 100.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCD(-target_pos.z * 100.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
 #endif
 }
 
@@ -201,8 +203,8 @@ void Loiter::run_vel(Vector3f& target_vel_ef, float& target_vel_yaw, Vector4b ax
     }
 
 #if HAL_LOGGING_ENABLED
-    AP::logger().Write_PSCN(0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
-    AP::logger().Write_PSCE(0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
-    AP::logger().Write_PSCD(0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCN(0.0, blimp.pos_ned.x * 100.0, 0.0, target_vel_ef_c.x * 100.0, blimp.vel_ned_filtd.x * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCE(0.0, blimp.pos_ned.y * 100.0, 0.0, target_vel_ef_c.y * 100.0, blimp.vel_ned_filtd.y * 100.0, 0.0, 0.0, 0.0);
+    AC_PosControl::Write_PSCD(0.0, -blimp.pos_ned.z * 100.0, 0.0, -target_vel_ef_c.z * 100.0, -blimp.vel_ned_filtd.z * 100.0, 0.0, 0.0, 0.0);
 #endif
 }
diff --git a/Blimp/wscript b/Blimp/wscript
index 34cb8c170490e0..1427a855526af7 100644
--- a/Blimp/wscript
+++ b/Blimp/wscript
@@ -18,6 +18,7 @@ def build(bld):
             'AP_KDECAN',
             'AP_Beacon',
             'AP_AdvancedFailsafe', # TODO for some reason compiling GCS_Common.cpp (in libraries) fails if this isn't included.
+            'AC_AttitudeControl',  # for PSCx logging
         ],
     )