diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index aa5e9b65cc..b996fcf653 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -766,15 +766,12 @@ 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 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 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)
 {
-    // sanity check id
-    if (id >= 8) {
-        return;
-    }
     const struct log_Esc pkt{
-        LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC1_MSG+id)),
+        LOG_PACKET_HEADER_INIT(uint8_t(LOG_ESC_MSG)),
         time_us     : time_us,
+        instance    : instance,
         rpm         : rpm,
         voltage     : voltage,
         current     : current,
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 3b5fb70256..64cf363039 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -907,7 +907,8 @@ struct PACKED log_GPS_RAWS {
 
 struct PACKED log_Esc {
     LOG_PACKET_HEADER;
-    uint64_t time_us;     
+    uint64_t time_us;
+    uint8_t instance;
     int32_t rpm;
     uint16_t voltage;
     uint16_t current;
@@ -1218,11 +1219,6 @@ struct PACKED log_Arm_Disarm {
 #define BARO_UNITS "smPOnsmO-"
 #define BARO_MULTS "F00B0C?0-"
 
-#define ESC_LABELS "TimeUS,RPM,Volt,Curr,Temp,CTot,MotTemp"
-#define ESC_FMT   "QeCCcHc"
-#define ESC_UNITS "sqvAO-O"
-#define ESC_MULTS "FBBBB-B"
-
 #define GPA_LABELS "TimeUS,VDop,HAcc,VAcc,SAcc,YAcc,VV,SMS,Delta"
 #define GPA_FMT   "QCCCCfBIH"
 #define GPA_UNITS "smmmnd-ss"
@@ -2409,22 +2405,8 @@ struct PACKED log_Arm_Disarm {
       "GRXH", "QdHbBB", "TimeUS,rcvTime,week,leapS,numMeas,recStat", "s-----", "F-----" }, \
     { 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_ESC1_MSG, sizeof(log_Esc), \
-      "ESC1",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC2_MSG, sizeof(log_Esc), \
-      "ESC2",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC3_MSG, sizeof(log_Esc), \
-      "ESC3",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC4_MSG, sizeof(log_Esc), \
-      "ESC4",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC5_MSG, sizeof(log_Esc), \
-      "ESC5",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC6_MSG, sizeof(log_Esc), \
-      "ESC6",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC7_MSG, sizeof(log_Esc), \
-      "ESC7",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
-    { LOG_ESC8_MSG, sizeof(log_Esc), \
-      "ESC8",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
+    { LOG_ESC_MSG, sizeof(log_Esc), \
+      "ESC",  "QBeCCcHc", "TimeUS,Instance,RPM,Volt,Curr,Temp,CTot,MotTemp", "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), \
@@ -2559,14 +2541,7 @@ enum LogMessages : uint8_t {
     LOG_TERRAIN_MSG,
     LOG_GPS_UBX1_MSG,
     LOG_GPS_UBX2_MSG,
-    LOG_ESC1_MSG,
-    LOG_ESC2_MSG,
-    LOG_ESC3_MSG,
-    LOG_ESC4_MSG,
-    LOG_ESC5_MSG,
-    LOG_ESC6_MSG,
-    LOG_ESC7_MSG,
-    LOG_ESC8_MSG,
+    LOG_ESC_MSG,
     LOG_CSRV_MSG,
     LOG_CESC_MSG,
     LOG_BAR2_MSG,