diff --git a/src/lib/drivers/device/nuttx/I2C.cpp b/src/lib/drivers/device/nuttx/I2C.cpp
index b7054b3d36..5c1c3616cd 100644
--- a/src/lib/drivers/device/nuttx/I2C.cpp
+++ b/src/lib/drivers/device/nuttx/I2C.cpp
@@ -216,6 +216,29 @@ I2C::transfer(const uint8_t *send, const unsigned send_len, uint8_t *recv, const
 		int ret_transfer = I2C_TRANSFER(_dev, &msgv[0], msgs);
 
 		if (ret_transfer != 0) {
+
+			switch (ret_transfer) {
+			case -EAGAIN:
+				PX4_WARN("I2C bus: %d, Addr: %X, Arbitration Lost", get_device_bus(), get_device_address());
+				break;
+
+			case -EIO:
+				PX4_WARN("I2C bus: %d, Addr: %X, Overrun/Underrun", get_device_bus(), get_device_address());
+				break;
+
+			case -EADDRNOTAVAIL:
+				//PX4_WARN("I2C bus: %d, Addr: %X, Address NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -ECOMM:
+				PX4_WARN("I2C bus: %d, Addr: %X, Data NACK", get_device_bus(), get_device_address());
+				break;
+
+			case -EBUSY:
+				PX4_WARN("I2C bus: %d, Addr: %X, Bus busy", get_device_bus(), get_device_address());
+				break;
+			}
+
 			DEVICE_DEBUG("I2C transfer failed, result %d", ret_transfer);
 			ret = PX4_ERROR;