diff --git a/libraries/AP_InternalError/AP_InternalError.cpp b/libraries/AP_InternalError/AP_InternalError.cpp
index d881f16de9..30544296fb 100644
--- a/libraries/AP_InternalError/AP_InternalError.cpp
+++ b/libraries/AP_InternalError/AP_InternalError.cpp
@@ -1,6 +1,7 @@
 #include "AP_InternalError.h"
 
 #include <AP_BoardConfig/AP_BoardConfig.h>
+#include <stdio.h>
 
 extern const AP_HAL::HAL &hal;
 
@@ -56,6 +57,7 @@ void AP_InternalError::errors_as_string(uint8_t *buffer, const uint16_t len) con
         "stack_ovrflw",  // stack_overflow
         "imu_reset",  // imu_reset
         "gpio_isr",
+        "mem_guard",
     };
 
     static_assert((1U<<(ARRAY_SIZE(error_bit_descriptions))) == uint32_t(AP_InternalError::error_t::__LAST__), "too few descriptions for bits");
@@ -110,3 +112,13 @@ void AP_stack_overflow(const char *thread_name)
         AP_HAL::panic("stack overflow %s\n", thread_name);
     }
 }
+
+// hook for memory guard errors with --enable-memory-guard
+void AP_memory_guard_error(uint32_t size)
+{
+    INTERNAL_ERROR(AP_InternalError::error_t::mem_guard);
+    if (!hal.util->get_soft_armed()) {
+        ::printf("memory guard error size=%u\n", unsigned(size));
+        AP_HAL::panic("memory guard size=%u\n", unsigned(size));
+    }
+}
diff --git a/libraries/AP_InternalError/AP_InternalError.h b/libraries/AP_InternalError/AP_InternalError.h
index 9435039b67..8a810f2a0a 100644
--- a/libraries/AP_InternalError/AP_InternalError.h
+++ b/libraries/AP_InternalError/AP_InternalError.h
@@ -63,7 +63,8 @@ public:
         stack_overflow              = (1U << 23),  //0x800000  8388608
         imu_reset                   = (1U << 24),  //0x1000000 16777216
         gpio_isr                    = (1U << 25),  //0x2000000 33554432
-        __LAST__                    = (1U << 26),  // used only for sanity check
+        mem_guard                   = (1U << 26),  //0x4000000 67108864
+        __LAST__                    = (1U << 27),  // used only for sanity check
     };
 
     // if you've changed __LAST__ to be 32, then you will want to
@@ -101,6 +102,7 @@ namespace AP {
 
 extern "C" {
     void AP_stack_overflow(const char *thread_name);
+    void AP_memory_guard_error(uint32_t size);
 }
 
 #define INTERNAL_ERROR(error_number) \