diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 07341752a1..dfe9d1408e 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -258,7 +258,7 @@ public:
     void Write_CameraInfo(enum LogMessages msg, const Location &current_loc, uint64_t timestamp_us=0);
     void Write_Camera(const Location &current_loc, uint64_t timestamp_us=0);
     void Write_Trigger(const Location &current_loc);
-    void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp);
+    void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate = 0.0f);
     void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
     void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
     void Write_Attitude(const Vector3f &targets);
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 11f977c018..e3769f6306 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -718,7 +718,7 @@ bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
 //   current is in centi-amps
 //   temperature is in centi-degrees Celsius
 //   current_tot is in centi-amp hours
-void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp)
+void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t esc_temp, uint16_t current_tot, int16_t motor_temp, float error_rate)
 {
     const struct log_Esc pkt{
         LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
@@ -729,7 +729,8 @@ void AP_Logger::Write_ESC(uint8_t instance, uint64_t time_us, int32_t rpm, uint1
         current     : current,
         esc_temp    : esc_temp,
         current_tot : current_tot,
-        motor_temp  : motor_temp
+        motor_temp  : motor_temp,
+        error_rate  : error_rate
     };
     WriteBlock(&pkt, sizeof(pkt));
 }
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index c10206b368..199c2a20da 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -712,6 +712,7 @@ struct PACKED log_Esc {
     int16_t esc_temp;
     uint16_t current_tot;
     int16_t motor_temp;
+    float error_rate;
 };
 
 struct PACKED log_CSRV {
@@ -1307,6 +1308,7 @@ struct PACKED log_PSC {
 // @Field: Temp: ESC temperature
 // @Field: CTot: current consumed total
 // @Field: MotTemp: measured motor temperature
+// @Field: Err: error rate
 
 // @LoggerMessage: EV
 // @Description: Specifically coded event messages
@@ -1973,7 +1975,7 @@ struct PACKED log_PSC {
     { LOG_GPS_RAWS_MSG, sizeof(log_GPS_RAWS), \
       "GRXS", "QddfBBBHBBBBB", "TimeUS,prMes,cpMes,doMes,gnss,sv,freq,lock,cno,prD,cpD,doD,trk", "s------------", "F------------" }, \
     { LOG_ESC_MSG, sizeof(log_Esc), \
-      "ESC",  "QBeCCcHc", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp", "s#qvAO-O", "F-BBBB-B" }, \
+      "ESC",  "QBeCCcHcf", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qvAO-O%", "F-BBBB-B-" }, \
     { LOG_CSRV_MSG, sizeof(log_CSRV), \
       "CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
     { LOG_CESC_MSG, sizeof(log_CESC), \