diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 7c80d92066024a..80d125665a0c5e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -674,6 +674,13 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
     AP_SUBGROUPINFO(params[1], "5_", 55, AP_InertialSensor, AP_InertialSensor_Params),
 #endif
 
+    // @Param: _RAW_LOG_OPT
+    // @DisplayName: Raw logging options
+    // @Description: Raw logging options bitmask
+    // @Bitmask: 0:Log primary gyro only, 1:Log all gyros, 2:Post filter, 3: Pre and post filter
+    // @User: Advanced
+    AP_GROUPINFO("_RAW_LOG_OPT", 56, AP_InertialSensor, raw_logging_options, 0),
+
     /*
       NOTE: parameter indexes have gaps above. When adding new
       parameters check for conflicts carefully
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 1f00247aba8b2f..27d21e1137d164 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -766,6 +766,18 @@ class AP_InertialSensor : AP_AccelCal_Client
     AP_Int32 tcal_options;
     bool tcal_learning;
 #endif
+
+    // Raw logging options bitmask and parameter
+    enum class RAW_LOGGING_OPTION {
+        PRIMARY_GYRO_ONLY   = (1U<<0),
+        ALL_GYROS           = (1U<<1),
+        POST_FILTER         = (1U<<2),
+        PRE_AND_POST_FILTER = (1U<<3),
+    };
+    AP_Int16 raw_logging_options;
+    bool raw_logging_option_set(RAW_LOGGING_OPTION option) const {
+        return (raw_logging_options.get() & int32_t(option)) != 0;
+    }
 };
 
 namespace AP {
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index 88b780964e7911..9b2954ef86a493 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -343,17 +343,7 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
     }
 
     // 5us
-#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
-    if (!_imu.batchsampler.doing_post_filter_logging()) {
-        log_gyro_raw(instance, sample_us, gyro);
-    }
-    else {
-        log_gyro_raw(instance, sample_us, _imu._gyro_filtered[instance]);
-    }
-#else
-    // assume pre-filter logging if batchsampler is not enabled
-    log_gyro_raw(instance, sample_us, gyro);
-#endif
+    log_gyro_raw(instance, sample_us, gyro, _imu._gyro_filtered[instance]);
 }
 
 /*
@@ -440,20 +430,10 @@ void AP_InertialSensor_Backend::_notify_new_delta_angle(uint8_t instance, const
         _imu._new_gyro_data[instance] = true;
     }
 
-#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
-    if (!_imu.batchsampler.doing_post_filter_logging()) {
-        log_gyro_raw(instance, sample_us, gyro);
-    }
-    else {
-        log_gyro_raw(instance, sample_us, _imu._gyro_filtered[instance]);
-    }
-#else
-    // assume we're doing pre-filter logging:
-    log_gyro_raw(instance, sample_us, gyro);
-#endif
+    log_gyro_raw(instance, sample_us, gyro, _imu._gyro_filtered[instance]);
 }
 
-void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
+void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &raw_gyro, const Vector3f &filtered_gyro)
 {
 #if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
@@ -461,12 +441,30 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
         // should not have been called
         return;
     }
-    if (should_log_imu_raw()) {
-        Write_GYR(instance, sample_us, gyro);
+
+    if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::ALL_GYROS) ||
+        (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRIMARY_GYRO_ONLY) && (instance == AP::ahrs().get_primary_gyro_index())) ||
+        should_log_imu_raw()) {
+
+        if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::PRE_AND_POST_FILTER)) {
+            // Both pre and post, offset post instance as batch sampler does
+            Write_GYR(instance, sample_us, raw_gyro);
+            Write_GYR(instance + _imu._gyro_count, sample_us, filtered_gyro);
+
+        } else if (_imu.raw_logging_option_set(AP_InertialSensor::RAW_LOGGING_OPTION::POST_FILTER)) {
+            // Just post
+            Write_GYR(instance, sample_us, filtered_gyro);
+
+        } else {
+            // Just pre
+            Write_GYR(instance, sample_us, raw_gyro);
+
+        }
     } else {
 #if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
         if (!_imu.batchsampler.doing_sensor_rate_logging()) {
-            _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us, gyro);
+            _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us,
+                                     !_imu.batchsampler.doing_post_filter_logging() ? raw_gyro : filtered_gyro);
         }
 #endif
     }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
index c49356a85ffc9a..a9bd7bb4118081 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
@@ -315,7 +315,7 @@ class AP_InertialSensor_Backend
 
     bool should_log_imu_raw() const ;
     void log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel) __RAMFUNC__;
-    void log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gryo) __RAMFUNC__;
+    void log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &raw_gyro, const Vector3f &filtered_gyro) __RAMFUNC__;
 
     // logging
     void Write_ACC(const uint8_t instance, const uint64_t sample_us, const Vector3f &accel) const __RAMFUNC__; // Write ACC data packet: raw accel data