diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
index 8cad861f8d..7994cbbc2b 100644
--- a/libraries/SRV_Channel/SRV_Channel.h
+++ b/libraries/SRV_Channel/SRV_Channel.h
@@ -538,9 +538,7 @@ public:
     static bool have_digital_outputs() { return digital_mask != 0; }
 
     // Set E - stop
-    static void set_emergency_stop(bool state) {
-        emergency_stop = state;
-    }
+    static void set_emergency_stop(bool state);
 
     // get E - stop
     static bool get_emergency_stop() { return emergency_stop;}
diff --git a/libraries/SRV_Channel/SRV_Channels.cpp b/libraries/SRV_Channel/SRV_Channels.cpp
index e0def27a86..76d69948fc 100644
--- a/libraries/SRV_Channel/SRV_Channels.cpp
+++ b/libraries/SRV_Channel/SRV_Channels.cpp
@@ -21,6 +21,7 @@
 #include <AP_Math/AP_Math.h>
 #include <AP_Vehicle/AP_Vehicle.h>
 #include "SRV_Channel.h"
+#include <AP_Logger/AP_Logger.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
   #include <AP_CANManager/AP_CANManager.h>
@@ -602,3 +603,16 @@ bool SRV_Channels::is_GPIO(uint8_t channel)
     }
     return false;
 }
+
+// Set E - stop
+void SRV_Channels::set_emergency_stop(bool state) {
+#if HAL_LOGGING_ENABLED
+    if (state != emergency_stop) {
+        AP_Logger *logger = AP_Logger::get_singleton();
+        if (logger && logger->logging_enabled()) {
+            logger->Write_Event(state ? LogEvent::MOTORS_EMERGENCY_STOPPED : LogEvent::MOTORS_EMERGENCY_STOP_CLEARED);
+        }
+    }
+#endif
+    emergency_stop = state;
+}