diff --git a/libraries/AP_InternalError/AP_InternalError.cpp b/libraries/AP_InternalError/AP_InternalError.cpp
index 0af689cbd2..3579b90c61 100644
--- a/libraries/AP_InternalError/AP_InternalError.cpp
+++ b/libraries/AP_InternalError/AP_InternalError.cpp
@@ -7,7 +7,7 @@ extern const AP_HAL::HAL &hal;
 // actually create the instance:
 static AP_InternalError instance;
 
-void AP_InternalError::error(const AP_InternalError::error_t e) {
+void AP_InternalError::error(const AP_InternalError::error_t e, uint16_t line) {
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
     switch (e) {
     case AP_InternalError::error_t::watchdog_reset:
@@ -20,9 +20,11 @@ void AP_InternalError::error(const AP_InternalError::error_t e) {
 #endif
     internal_errors |= uint32_t(e);
     total_error_count++;
+    last_line = line;
 
     hal.util->persistent_data.internal_errors = internal_errors;
     hal.util->persistent_data.internal_error_count = total_error_count;
+    hal.util->persistent_data.internal_error_last_line = line;
 }
 
 namespace AP {
@@ -38,7 +40,7 @@ AP_InternalError &internalerror()
 void AP_stack_overflow(const char *thread_name)
 {
     static bool done_stack_overflow;
-    AP::internalerror().error(AP_InternalError::error_t::stack_overflow);
+    INTERNAL_ERROR(AP_InternalError::error_t::stack_overflow);
     if (!done_stack_overflow) {
         // we don't want to record the thread name more than once, as
         // first overflow can trigger a 2nd
diff --git a/libraries/AP_InternalError/AP_InternalError.h b/libraries/AP_InternalError/AP_InternalError.h
index 2bbe3bddcf..257fbfa092 100644
--- a/libraries/AP_InternalError/AP_InternalError.h
+++ b/libraries/AP_InternalError/AP_InternalError.h
@@ -59,7 +59,9 @@ public:
         stack_overflow              = (1U << 23),  //0x800000  8388608
     };
 
-    void error(const AP_InternalError::error_t error);
+    uint16_t last_error_line() const { return last_line; }
+
+    void error(const AP_InternalError::error_t error, uint16_t line);
     uint32_t count() const { return total_error_count; }
 
     // internal_errors - return mask of internal errors seen
@@ -73,6 +75,7 @@ private:
     uint32_t internal_errors;
 
     uint32_t total_error_count;
+    uint16_t last_line;
 };
 
 namespace AP {
@@ -83,3 +86,5 @@ extern "C" {
     void AP_stack_overflow(const char *thread_name);
 }
 
+#define INTERNAL_ERROR(error_number) \
+    AP::internalerror().error(error_number, __LINE__);