diff --git a/libraries/AP_HAL/Scheduler.h b/libraries/AP_HAL/Scheduler.h
index 0343cd2964..48db386fdb 100644
--- a/libraries/AP_HAL/Scheduler.h
+++ b/libraries/AP_HAL/Scheduler.h
@@ -56,7 +56,7 @@ public:
     virtual bool     system_initializing() = 0;
     virtual void     system_initialized() = 0;
 
-    virtual void     panic(const prog_char_t *errormsg) NORETURN = 0;
+    virtual void     panic(const prog_char_t *errormsg, ...) NORETURN = 0;
     virtual void     reboot(bool hold_in_bootloader) = 0;
 
     /**
diff --git a/libraries/AP_HAL_AVR/Scheduler.cpp b/libraries/AP_HAL_AVR/Scheduler.cpp
index cf922340ad..f746b2e382 100644
--- a/libraries/AP_HAL_AVR/Scheduler.cpp
+++ b/libraries/AP_HAL_AVR/Scheduler.cpp
@@ -225,7 +225,7 @@ void AVRScheduler::system_initialized() {
     _initialized = true;
 }
 
-void AVRScheduler::panic(const prog_char_t* errormsg) {
+void AVRScheduler::panic(const prog_char_t* errormsg, ...) {
     /* Suspend timer processes. We still want the timer event to go off
      * to run the _failsafe code, however. */
     _timer_suspended = true;
diff --git a/libraries/AP_HAL_AVR/Scheduler.h b/libraries/AP_HAL_AVR/Scheduler.h
index 8aadff6236..eca8d71faf 100644
--- a/libraries/AP_HAL_AVR/Scheduler.h
+++ b/libraries/AP_HAL_AVR/Scheduler.h
@@ -45,7 +45,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
     void     set_timer_speed(uint16_t timer_hz);
diff --git a/libraries/AP_HAL_Empty/Scheduler.cpp b/libraries/AP_HAL_Empty/Scheduler.cpp
index c12026c488..04a287dc7d 100644
--- a/libraries/AP_HAL_Empty/Scheduler.cpp
+++ b/libraries/AP_HAL_Empty/Scheduler.cpp
@@ -69,7 +69,7 @@ bool EmptyScheduler::system_initializing() {
 void EmptyScheduler::system_initialized()
 {}
 
-void EmptyScheduler::panic(const prog_char_t *errormsg) {
+void EmptyScheduler::panic(const prog_char_t *errormsg, ...) {
     hal.console->println_P(errormsg);
     for(;;);
 }
diff --git a/libraries/AP_HAL_Empty/Scheduler.h b/libraries/AP_HAL_Empty/Scheduler.h
index 42d30faea0..f56f338439 100644
--- a/libraries/AP_HAL_Empty/Scheduler.h
+++ b/libraries/AP_HAL_Empty/Scheduler.h
@@ -32,7 +32,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 };
diff --git a/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp b/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
index 798798e189..c5de2f0c87 100644
--- a/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
+++ b/libraries/AP_HAL_FLYMAPLE/Scheduler.cpp
@@ -228,7 +228,7 @@ void FLYMAPLEScheduler::system_initialized()
     _initialized = true;
 }
 
-void FLYMAPLEScheduler::panic(const prog_char_t *errormsg) {
+void FLYMAPLEScheduler::panic(const prog_char_t *errormsg, ...) {
     /* Suspend timer processes. We still want the timer event to go off
      * to run the _failsafe code, however. */
     // REVISIT: not tested on FLYMAPLE
diff --git a/libraries/AP_HAL_FLYMAPLE/Scheduler.h b/libraries/AP_HAL_FLYMAPLE/Scheduler.h
index 21afa0c5c7..cc3ee78592 100644
--- a/libraries/AP_HAL_FLYMAPLE/Scheduler.h
+++ b/libraries/AP_HAL_FLYMAPLE/Scheduler.h
@@ -53,7 +53,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
 private:
diff --git a/libraries/AP_HAL_Linux/Scheduler.cpp b/libraries/AP_HAL_Linux/Scheduler.cpp
index 5f170fa293..f40e6be03a 100644
--- a/libraries/AP_HAL_Linux/Scheduler.cpp
+++ b/libraries/AP_HAL_Linux/Scheduler.cpp
@@ -407,7 +407,7 @@ void *Scheduler::_io_thread(void* arg)
     return NULL;
 }
 
-void Scheduler::panic(const prog_char_t *errormsg)
+void Scheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);
diff --git a/libraries/AP_HAL_Linux/Scheduler.h b/libraries/AP_HAL_Linux/Scheduler.h
index c38de0440a..2861b6f648 100644
--- a/libraries/AP_HAL_Linux/Scheduler.h
+++ b/libraries/AP_HAL_Linux/Scheduler.h
@@ -43,7 +43,7 @@ public:
     bool     system_initializing();
     void     system_initialized();
 
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
     void     reboot(bool hold_in_bootloader);
 
     void     stop_clock(uint64_t time_usec);
diff --git a/libraries/AP_HAL_PX4/Scheduler.cpp b/libraries/AP_HAL_PX4/Scheduler.cpp
index 9d474f1983..ec7041e473 100644
--- a/libraries/AP_HAL_PX4/Scheduler.cpp
+++ b/libraries/AP_HAL_PX4/Scheduler.cpp
@@ -374,7 +374,7 @@ void *PX4Scheduler::_storage_thread(void)
     return NULL;
 }
 
-void PX4Scheduler::panic(const prog_char_t *errormsg) 
+void PX4Scheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);
diff --git a/libraries/AP_HAL_PX4/Scheduler.h b/libraries/AP_HAL_PX4/Scheduler.h
index 7dc0c33d54..2438487671 100644
--- a/libraries/AP_HAL_PX4/Scheduler.h
+++ b/libraries/AP_HAL_PX4/Scheduler.h
@@ -60,7 +60,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();
diff --git a/libraries/AP_HAL_SITL/Scheduler.cpp b/libraries/AP_HAL_SITL/Scheduler.cpp
index 37e74b674f..2a643565ab 100644
--- a/libraries/AP_HAL_SITL/Scheduler.cpp
+++ b/libraries/AP_HAL_SITL/Scheduler.cpp
@@ -259,7 +259,7 @@ void SITLScheduler::_run_io_procs(bool called_from_isr)
     _in_io_proc = false;
 }
 
-void SITLScheduler::panic(const prog_char_t *errormsg) {
+void SITLScheduler::panic(const prog_char_t *errormsg, ...) {
     hal.console->println_P(errormsg);
     for(;;);
 }
diff --git a/libraries/AP_HAL_SITL/Scheduler.h b/libraries/AP_HAL_SITL/Scheduler.h
index 0c50e6e624..b160c842d9 100644
--- a/libraries/AP_HAL_SITL/Scheduler.h
+++ b/libraries/AP_HAL_SITL/Scheduler.h
@@ -41,7 +41,7 @@ public:
     void     system_initialized();
 
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     interrupts_are_blocked(void) {
         return _nested_atomic_ctr != 0;
diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
index e04fb11528..4aecb37527 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.cpp
@@ -325,7 +325,7 @@ void *VRBRAINScheduler::_io_thread(void)
     return NULL;
 }
 
-void VRBRAINScheduler::panic(const prog_char_t *errormsg)
+void VRBRAINScheduler::panic(const prog_char_t *errormsg, ...)
 {
     write(1, errormsg, strlen(errormsg));
     write(1, "\n", 1);
diff --git a/libraries/AP_HAL_VRBRAIN/Scheduler.h b/libraries/AP_HAL_VRBRAIN/Scheduler.h
index 4ba708652b..6e28dbc63d 100644
--- a/libraries/AP_HAL_VRBRAIN/Scheduler.h
+++ b/libraries/AP_HAL_VRBRAIN/Scheduler.h
@@ -39,7 +39,7 @@ public:
     void     suspend_timer_procs();
     void     resume_timer_procs();
     void     reboot(bool hold_in_bootloader);
-    void     panic(const prog_char_t *errormsg) NORETURN;
+    void     panic(const prog_char_t *errormsg, ...) NORETURN;
 
     bool     in_timerprocess();
     bool     system_initializing();