diff --git a/libraries/AP_Gripper/AP_Gripper_EPM.cpp b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
index 65dafb272a..becb3f2e8b 100644
--- a/libraries/AP_Gripper/AP_Gripper_EPM.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_EPM.cpp
@@ -11,6 +11,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_BoardConfig/AP_BoardConfig.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Logger/AP_Logger.h>
 #ifdef UAVCAN_NODE_FILE
 #include <fcntl.h>
 #include <stdio.h>
@@ -60,6 +61,7 @@ void AP_Gripper_EPM::grab()
         SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.grab_pwm);
     }
     gcs().send_text(MAV_SEVERITY_INFO, "Gripper load grabbing");
+    AP::logger().Write_Event(LogEvent::GRIPPER_GRAB);
 }
 
 // release - move epm pwm output to the release position
@@ -83,6 +85,7 @@ void AP_Gripper_EPM::release()
         SRV_Channels::set_output_pwm(SRV_Channel::k_gripper, config.release_pwm);
     }
     gcs().send_text(MAV_SEVERITY_INFO, "Gripper load releasing");
+    AP::logger().Write_Event(LogEvent::GRIPPER_RELEASE);
 }
 
 // neutral - return the epm pwm output to the neutral position
diff --git a/libraries/AP_Gripper/AP_Gripper_Servo.cpp b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
index 565774b623..9747222110 100644
--- a/libraries/AP_Gripper/AP_Gripper_Servo.cpp
+++ b/libraries/AP_Gripper/AP_Gripper_Servo.cpp
@@ -1,5 +1,7 @@
 #include <AP_Gripper/AP_Gripper_Servo.h>
 #include <GCS_MAVLink/GCS.h>
+#include <AP_Logger/AP_Logger.h>
+
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
   #include <SITL/SITL.h>
 #endif
@@ -22,6 +24,7 @@ void AP_Gripper_Servo::grab()
     is_released = true;
 #endif
     gcs().send_text(MAV_SEVERITY_INFO, "Gripper load grabbing");
+    AP::logger().Write_Event(LogEvent::GRIPPER_GRAB);
 }
 
 void AP_Gripper_Servo::release()
@@ -34,6 +37,7 @@ void AP_Gripper_Servo::release()
     is_released = false;
 #endif
     gcs().send_text(MAV_SEVERITY_INFO, "Gripper load releasing");
+    AP::logger().Write_Event(LogEvent::GRIPPER_RELEASE);
 }
 
 bool AP_Gripper_Servo::has_state_pwm(const uint16_t pwm) const