diff --git a/libraries/AP_Logger/AP_Logger.cpp b/libraries/AP_Logger/AP_Logger.cpp
index cf70cfac32..72a32cf58a 100644
--- a/libraries/AP_Logger/AP_Logger.cpp
+++ b/libraries/AP_Logger/AP_Logger.cpp
@@ -834,7 +834,7 @@ void AP_Logger::WriteV(const char *name, const char *labels, const char *units,
     if (f == nullptr) {
         // unable to map name to a messagetype; could be out of
         // msgtypes, could be out of slots, ...
-        AP::internalerror().error(AP_InternalError::error_t::logger_mapfailure);
+        INTERNAL_ERROR(AP_InternalError::error_t::logger_mapfailure);
         return;
     }
 
diff --git a/libraries/AP_Logger/AP_Logger_Backend.cpp b/libraries/AP_Logger/AP_Logger_Backend.cpp
index 187e825540..66b798a9a4 100644
--- a/libraries/AP_Logger/AP_Logger_Backend.cpp
+++ b/libraries/AP_Logger/AP_Logger_Backend.cpp
@@ -159,7 +159,7 @@ bool AP_Logger_Backend::Write_Emit_FMT(uint8_t msg_type)
         // this is a bug; we've been asked to write out the FMT
         // message for a msg_type, but the frontend can't supply the
         // required information
-        AP::internalerror().error(AP_InternalError::error_t::logger_missing_logstructure);
+        INTERNAL_ERROR(AP_InternalError::error_t::logger_missing_logstructure);
         return false;
     }
 
@@ -189,7 +189,7 @@ bool AP_Logger_Backend::Write(const uint8_t msg_type, va_list arg_list, bool is_
         }
     }
     if (fmt == nullptr) {
-        AP::internalerror().error(AP_InternalError::error_t::logger_logwrite_missingfmt);
+        INTERNAL_ERROR(AP_InternalError::error_t::logger_logwrite_missingfmt);
         return false;
     }
     if (bufferspace_available() < msg_len) {
diff --git a/libraries/AP_Logger/AP_Logger_File.cpp b/libraries/AP_Logger/AP_Logger_File.cpp
index 531b2c247f..69b8ef0431 100644
--- a/libraries/AP_Logger/AP_Logger_File.cpp
+++ b/libraries/AP_Logger/AP_Logger_File.cpp
@@ -301,12 +301,12 @@ void AP_Logger_File::Prep_MinSpace()
         }
         if (count++ > MAX_LOG_FILES+10) {
             // *way* too many deletions going on here.  Possible internal error.
-            AP::internalerror().error(AP_InternalError::error_t::logger_too_many_deletions);
+            INTERNAL_ERROR(AP_InternalError::error_t::logger_too_many_deletions);
             break;
         }
         char *filename_to_remove = _log_file_name(log_to_remove);
         if (filename_to_remove == nullptr) {
-            AP::internalerror().error(AP_InternalError::error_t::logger_bad_getfilename);
+            INTERNAL_ERROR(AP_InternalError::error_t::logger_bad_getfilename);
             break;
         }
         if (file_exists(filename_to_remove)) {
@@ -895,7 +895,7 @@ void AP_Logger_File::flush(void)
         }
         write_fd_semaphore.give();
     } else {
-        AP::internalerror().error(AP_InternalError::error_t::logger_flushing_without_sem);
+        INTERNAL_ERROR(AP_InternalError::error_t::logger_flushing_without_sem);
     }
 }
 #else
diff --git a/libraries/AP_Logger/AP_Logger_MAVLink.cpp b/libraries/AP_Logger/AP_Logger_MAVLink.cpp
index ac1758abda..9134785d22 100644
--- a/libraries/AP_Logger/AP_Logger_MAVLink.cpp
+++ b/libraries/AP_Logger/AP_Logger_MAVLink.cpp
@@ -149,7 +149,7 @@ bool AP_Logger_MAVLink::_WritePrioritisedBlock(const void *pBuffer, uint16_t siz
             _current_block = next_block();
             if (_current_block == nullptr) {
                 // should not happen - there's a sanity check above
-                AP::internalerror().error(AP_InternalError::error_t::logger_bad_current_block);
+                INTERNAL_ERROR(AP_InternalError::error_t::logger_bad_current_block);
                 semaphore.give();
                 return false;
             }
@@ -401,7 +401,7 @@ void AP_Logger_MAVLink::stats_collect()
     uint8_t sfree = stack_size(_blocks_free);
 
     if (sfree != _blockcount_free) {
-        AP::internalerror().error(AP_InternalError::error_t::logger_blockcount_mismatch);
+        INTERNAL_ERROR(AP_InternalError::error_t::logger_blockcount_mismatch);
     }
     semaphore.give();
 
@@ -456,7 +456,7 @@ bool AP_Logger_MAVLink::send_log_blocks_from_queue(dm_block_queue_t &queue)
         if (tmp != nullptr) { // should never be nullptr
             enqueue_block(_blocks_sent, tmp);
         } else {
-            AP::internalerror().error(AP_InternalError::error_t::logger_dequeue_failure);
+            INTERNAL_ERROR(AP_InternalError::error_t::logger_dequeue_failure);
         }
     }
     return true;
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 38b6dbded8..3b5fb70256 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -1684,6 +1684,7 @@ struct PACKED log_Arm_Disarm {
 // @Field: Task: Current scheduler task number
 // @Field: IErr: Internal error mask; which internal errors have been detected
 // @Field: IErrCnt: Internal error count; how many internal errors have been detected
+// @Field: IErrLn: Line on which internal error ocurred
 // @Field: MavMsg: Id of the last mavlink message processed
 // @Field: MavCmd: Id of the last mavlink command processed
 // @Field: SemLine: Line number of semaphore most recently taken