diff --git a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
index 5c5c701da2..d6ad8abaf6 100644
--- a/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
+++ b/libraries/AP_HAL_ChibiOS/HAL_ChibiOS_Class.cpp
@@ -222,7 +222,7 @@ static void main_loop()
 
 #ifndef HAL_NO_LOGGING
     if (hal.util->was_watchdog_reset()) {
-        AP::internalerror().error(AP_InternalError::error_t::watchdog_reset);
+        INTERNAL_ERROR(AP_InternalError::error_t::watchdog_reset);
     }
 #endif // HAL_NO_LOGGING
 #endif // IOMCU_FW
diff --git a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
index 4c0c550b63..84cbe5ac64 100644
--- a/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/I2CDevice.cpp
@@ -294,7 +294,7 @@ bool I2CDevice::_transfer(const uint8_t *send, uint32_t send_len,
         bus.dma_handle->unlock();
 
         if (I2CD[bus.busnum].i2c->errors & I2C_ISR_LIMIT) {
-            AP::internalerror().error(AP_InternalError::error_t::i2c_isr);
+            INTERNAL_ERROR(AP_InternalError::error_t::i2c_isr);
             break;
         }
 
diff --git a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
index 35fb9d79a0..bf50ef80e1 100644
--- a/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
+++ b/libraries/AP_HAL_ChibiOS/SPIDevice.cpp
@@ -208,7 +208,7 @@ bool SPIDevice::do_transfer(const uint8_t *send, uint8_t *recv, uint32_t len)
     if (msg == MSG_TIMEOUT) {
         ret = false;
         if (!hal.scheduler->in_expected_delay()) {
-            AP::internalerror().error(AP_InternalError::error_t::spi_fail);
+            INTERNAL_ERROR(AP_InternalError::error_t::spi_fail);
         }
         spiAbort(spi_devices[device_desc.bus].driver);
     }
diff --git a/libraries/AP_HAL_ChibiOS/Scheduler.cpp b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
index d8819f0ce8..7449a7179f 100644
--- a/libraries/AP_HAL_ChibiOS/Scheduler.cpp
+++ b/libraries/AP_HAL_ChibiOS/Scheduler.cpp
@@ -368,12 +368,13 @@ void Scheduler::_monitor_thread(void *arg)
             // 200ms. Starting logging the main loop state
             const AP_HAL::Util::PersistentData &pd = hal.util->persistent_data;
             if (AP_Logger::get_singleton()) {
-                AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIIHHHII",
+                AP::logger().Write("MON", "TimeUS,LDelay,Task,IErr,IErrCnt,IErrLn,MavMsg,MavCmd,SemLine,SPICnt,I2CCnt", "QIbIHHHHHII",
                                    AP_HAL::micros64(),
                                    loop_delay,
                                    pd.scheduler_task,
                                    pd.internal_errors,
                                    pd.internal_error_count,
+                                   pd.internal_error_last_line,
                                    pd.last_mavlink_msgid,
                                    pd.last_mavlink_cmd,
                                    pd.semaphore_line,
@@ -383,7 +384,7 @@ void Scheduler::_monitor_thread(void *arg)
         }
         if (loop_delay >= 500) {
             // at 500ms we declare an internal error
-            AP::internalerror().error(AP_InternalError::error_t::main_loop_stuck);
+            INTERNAL_ERROR(AP_InternalError::error_t::main_loop_stuck);
         }
 
 #ifndef HAL_NO_LOGGING
@@ -391,11 +392,12 @@ void Scheduler::_monitor_thread(void *arg)
         log_wd_counter = 0;
         // log watchdog message once a second
         const AP_HAL::Util::PersistentData &pd = hal.util->last_persistent_data;
-        AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "QbIIHHHHHIBIIn",
+        AP::logger().WriteCritical("WDOG", "TimeUS,Tsk,IE,IEC,IEL,MvMsg,MvCmd,SmLn,FL,FT,FA,FP,ICSR,LR,TN", "QbIHHHHHHHIBIIn",
                                    AP_HAL::micros64(),
                                    pd.scheduler_task,
                                    pd.internal_errors,
                                    pd.internal_error_count,
+                                   pd.internal_error_last_line,
                                    pd.last_mavlink_msgid,
                                    pd.last_mavlink_cmd,
                                    pd.semaphore_line,