diff --git a/libraries/AP_Logger/AP_Logger.h b/libraries/AP_Logger/AP_Logger.h
index 0ff0170eea..6bc521e143 100644
--- a/libraries/AP_Logger/AP_Logger.h
+++ b/libraries/AP_Logger/AP_Logger.h
@@ -256,6 +256,7 @@ public:
     void Write_Trigger(const Location &current_loc);
     void Write_ESC(uint8_t id, uint64_t time_us, int32_t rpm, uint16_t voltage, uint16_t current, int16_t temperature, uint16_t current_tot);
     void Write_ServoStatus(uint64_t time_us, uint8_t id, float position, float force, float speed, uint8_t power_pct);
+    void Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct);
     void Write_Attitude(const Vector3f &targets);
     void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
     void Write_Current();
diff --git a/libraries/AP_Logger/LogFile.cpp b/libraries/AP_Logger/LogFile.cpp
index 22e150bed3..46a63892ed 100644
--- a/libraries/AP_Logger/LogFile.cpp
+++ b/libraries/AP_Logger/LogFile.cpp
@@ -815,6 +815,26 @@ void AP_Logger::Write_ServoStatus(uint64_t time_us, uint8_t id, float position,
     WriteBlock(&pkt, sizeof(pkt));
 }
 
+/*
+  write ESC status from CAN ESC
+ */
+void AP_Logger::Write_ESCStatus(uint64_t time_us, uint8_t id, uint32_t error_count, float voltage, float current, float temperature, int32_t rpm, uint8_t power_pct)
+{
+    const struct log_CESC pkt {
+        LOG_PACKET_HEADER_INIT(LOG_CESC_MSG),
+        time_us     : time_us,
+        id          : id,
+        error_count : error_count,
+        voltage     : voltage,
+        current     : current,
+        temperature : temperature,
+        rpm         : rpm,
+        power_pct   : power_pct
+    };
+    WriteBlock(&pkt, sizeof(pkt));
+}
+
+
 // Write a Yaw PID packet
 void AP_Logger::Write_PID(uint8_t msg_type, const PID_Info &info)
 {
diff --git a/libraries/AP_Logger/LogStructure.h b/libraries/AP_Logger/LogStructure.h
index 2352139502..c6972e1a01 100644
--- a/libraries/AP_Logger/LogStructure.h
+++ b/libraries/AP_Logger/LogStructure.h
@@ -951,6 +951,18 @@ struct PACKED log_CSRV {
     uint8_t power_pct;
 };
 
+struct PACKED log_CESC {
+    LOG_PACKET_HEADER;
+    uint64_t time_us;     
+    uint8_t id;
+    uint32_t error_count;
+    float voltage;
+    float current;
+    float temperature;
+    int32_t rpm;
+    uint8_t power_pct;
+};
+
 struct PACKED log_AIRSPEED {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -1525,6 +1537,8 @@ struct PACKED log_Arm_Disarm {
       "ESC8",  ESC_FMT, ESC_LABELS, ESC_UNITS, ESC_MULTS }, \
     { LOG_CSRV_MSG, sizeof(log_CSRV), \
       "CSRV","QBfffB","TimeUS,Id,Pos,Force,Speed,Pow", "s#---%", "F-0000" }, \
+    { LOG_CESC_MSG, sizeof(log_CESC), \
+      "CESC","QBIfffiB","TimeUS,Id,ECnt,Voltage,Curr,Temp,RPM,Pow", "s#-vAOq%", "F-000000" }, \
     { LOG_COMPASS2_MSG, sizeof(log_Compass), \
       "MAG2",MAG_FMT,    MAG_LABELS, MAG_UNITS, MAG_MULTS }, \
     { LOG_COMPASS3_MSG, sizeof(log_Compass), \
@@ -1693,6 +1707,7 @@ enum LogMessages : uint8_t {
     LOG_ESC7_MSG,
     LOG_ESC8_MSG,
     LOG_CSRV_MSG,
+    LOG_CESC_MSG,
     LOG_BAR2_MSG,
     LOG_ARSP_MSG,
     LOG_ATTITUDE_MSG,