diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 0b60c8ba57..d29b8aeaf3 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -214,11 +214,14 @@ static void main_loop()
     if (hal.util->was_watchdog_reset()) {
         AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
         AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
-        AP::logger().Write("WDOG", "TimeUS,Task,IErr,IErrCnt", "QbII",
+        AP::logger().Write("WDOG", "TimeUS,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QbIIHHH",
                            AP_HAL::micros64(),
                            pd.scheduler_task,
                            pd.internal_errors,
-                           pd.internal_error_count);
+                           pd.internal_error_count,
+                           pd.last_mavlink_msgid,
+                           pd.last_mavlink_cmd,
+                           pd.semaphore_line);
     }
 #endif
 
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index b934bed4eb..b676f5482d 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -351,12 +351,15 @@ void Scheduler::_monitor_thread(void *arg)
             // the main loop has been stuck for at least
             // 200ms. Starting logging the main loop state
             AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
-            AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt", "QIbII",
+            AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine", "QIbIIHHH",
                                AP_HAL::micros64(),
                                loop_delay,
                                pd.scheduler_task,
                                pd.internal_errors,
-                               pd.internal_error_count);
+                               pd.internal_error_count,
+                               pd.last_mavlink_msgid,
+                               pd.last_mavlink_cmd,
+                               pd.semaphore_line);
         }
         if (loop_delay >= 500) {
             // at 500ms we declare an internal error