diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index b03b7f319b..31b56f469e 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -683,12 +683,12 @@ PX4IO::init()
 
 	/* if the error still persists after timing out, we give up */
 	if (protocol == _io_reg_get_error) {
-		mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
+		mavlink_log_emergency(&_mavlink_log_pub, "Failed to communicate with IO, abort.");
 		return -1;
 	}
 
 	if (protocol != PX4IO_PROTOCOL_VERSION) {
-		mavlink_and_console_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
+		mavlink_log_emergency(&_mavlink_log_pub, "IO protocol/firmware mismatch, abort.");
 		return -1;
 	}
 
@@ -755,7 +755,7 @@ PX4IO::init()
 		/* get a status update from IO */
 		io_get_status();
 
-		mavlink_and_console_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
+		mavlink_log_emergency(&_mavlink_log_pub, "RECOVERING FROM FMU IN-AIR RESTART");
 
 		/* WARNING: COMMANDER app/vehicle status must be initialized.
 		 * If this fails (or the app is not started), worst-case IO
@@ -784,7 +784,7 @@ PX4IO::init()
 
 			/* abort after 5s */
 			if ((hrt_absolute_time() - try_start_time) / 1000 > 3000) {
-				mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
+				mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (1), abort");
 				return 1;
 			}
 
@@ -840,7 +840,7 @@ PX4IO::init()
 
 			/* abort after 5s */
 			if ((hrt_absolute_time() - try_start_time) / 1000 > 2000) {
-				mavlink_and_console_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
+				mavlink_log_emergency(&_mavlink_log_pub, "Failed to recover from in-air restart (2), abort");
 				return 1;
 			}
 
@@ -887,7 +887,7 @@ PX4IO::init()
 			ret = io_set_rc_config();
 
 			if (ret != OK) {
-				mavlink_and_console_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
+				mavlink_log_critical(&_mavlink_log_pub, "IO RC config upload fail");
 				return ret;
 			}
 		}
@@ -1115,7 +1115,7 @@ PX4IO::task_main()
 				int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
 
 				if (pret != OK) {
-					mavlink_and_console_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
+					mavlink_log_critical(&_mavlink_log_pub, "IO vscale upload failed");
 				}
 
 				/* send RC throttle failsafe value to IO */
@@ -1132,7 +1132,7 @@ PX4IO::task_main()
 						pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
 
 						if (pret != OK) {
-							mavlink_and_console_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
+							mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr);
 						}
 					}
 				}
@@ -1610,7 +1610,7 @@ PX4IO::io_set_rc_config()
 
 		/* check the IO initialisation flag */
 		if (!(io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS) & PX4IO_P_STATUS_FLAGS_INIT_OK)) {
-			mavlink_and_console_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
+			mavlink_log_critical(&_mavlink_log_pub, "config for RC%u rejected by IO", i + 1);
 			break;
 		}
 
diff --git a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index 92e49b3eab..b09912c7a5 100644
--- a/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/examples/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -417,7 +417,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
 
 		// Do not warn about accel offset if we have no position updates
 		if (!(warn_index == 5 && _ekf->staticMode)) {
-			mavlink_and_console_log_critical(&_mavlink_log_pub, "[ekf check] %s", feedback[warn_index]);
+			mavlink_log_critical(&_mavlink_log_pub, "[ekf check] %s", feedback[warn_index]);
 		}
 	}
 
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
index 5ffd1e1316..283104ee61 100644
--- a/src/modules/commander/PreflightCheck.cpp
+++ b/src/modules/commander/PreflightCheck.cpp
@@ -128,7 +128,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
 	if (!h.isValid()) {
 		if (!optional) {
 			if (report_fail) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO MAG SENSOR #%u", instance);
 			}
 		}
 
@@ -139,7 +139,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
 
 	if (ret) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u UNCALIBRATED", instance);
 		}
 		success = false;
 		goto out;
@@ -149,7 +149,7 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bo
 
 	if (ret != OK) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: MAG #%u SELFTEST FAILED", instance);
 		}
 		success = false;
 		goto out;
@@ -172,7 +172,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
 	if (!h.isValid()) {
 		if (!optional) {
 			if (report_fail) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO ACCEL SENSOR #%u", instance);
 			}
 		}
 
@@ -183,7 +183,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
 
 	if (ret) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u UNCALIBRATED", instance);
 		}
 		success = false;
 		goto out;
@@ -193,7 +193,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
 
 	if (ret != OK) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u TEST FAILED: %d", instance, ret);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL #%u TEST FAILED: %d", instance, ret);
 		}
 		success = false;
 		goto out;
@@ -211,7 +211,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
 
 			if (accel_magnitude < 4.0f || accel_magnitude > 15.0f /* m/s^2 */) {
 				if (report_fail) {
-					mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
+					mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL RANGE, hold still on arming");
 				}
 				/* this is frickin' fatal */
 				success = false;
@@ -219,7 +219,7 @@ static bool accelerometerCheck(orb_advert_t *mavlink_log_pub, unsigned instance,
 			}
 		} else {
 			if (report_fail) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL READ");
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: ACCEL READ");
 			}
 			/* this is frickin' fatal */
 			success = false;
@@ -245,7 +245,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
 	if (!h.isValid()) {
 		if (!optional) {
 			if (report_fail) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO GYRO SENSOR #%u", instance);
 			}
 		}
 
@@ -256,7 +256,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
 
 	if (ret) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u UNCALIBRATED", instance);
 		}
 		success = false;
 		goto out;
@@ -266,7 +266,7 @@ static bool gyroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
 
 	if (ret != OK) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GYRO #%u SELFTEST FAILED", instance);
 		}
 		success = false;
 		goto out;
@@ -289,7 +289,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
 	if (!h.isValid()) {
 		if (!optional) {
 			if (report_fail) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
+				mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: NO BARO SENSOR #%u", instance);
 			}
 		}
 
@@ -302,7 +302,7 @@ static bool baroCheck(orb_advert_t *mavlink_log_pub, unsigned instance, bool opt
 	// int ret = check_calibration(fd, "CAL_BARO%u_ID");
 
 	// if (ret) {
-	// 	mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: BARO #%u UNCALIBRATED", instance);
+	// 	mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: BARO #%u UNCALIBRATED", instance);
 	// 	success = false;
 	// 	goto out;
 	// }
@@ -324,7 +324,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
 	if ((ret = orb_copy(ORB_ID(airspeed), fd, &airspeed)) ||
 	    (hrt_elapsed_time(&airspeed.timestamp) > (500 * 1000))) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR MISSING");
 		}
 		success = false;
 		goto out;
@@ -332,7 +332,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
 
 	if (fabsf(airspeed.confidence) < 0.99f) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR COMM ERROR");
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: AIRSPEED SENSOR COMM ERROR");
 		}
 		success = false;
 		goto out;
@@ -340,7 +340,7 @@ static bool airspeedCheck(orb_advert_t *mavlink_log_pub, bool optional, bool rep
 
 	if (fabsf(airspeed.indicated_airspeed_m_s) > 6.0f) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
+			mavlink_log_critical(mavlink_log_pub, "AIRSPEED WARNING: WIND OR CALIBRATION ISSUE");
 		}
 		// XXX do not make this fatal yet
 	}
@@ -374,7 +374,7 @@ static bool gnssCheck(orb_advert_t *mavlink_log_pub, bool report_fail)
 	//Report failure to detect module
 	if (!success) {
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
+			mavlink_log_critical(mavlink_log_pub, "PREFLIGHT FAIL: GPS RECEIVER MISSING");
 		}
 	}
 
@@ -421,7 +421,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if (reportFailures) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
+				mavlink_log_critical(mavlink_log_pub, "Warning: Primary compass not found");
 			}
 			failed = true;
 		}
@@ -450,7 +450,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if (reportFailures) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
+				mavlink_log_critical(mavlink_log_pub, "Warning: Primary accelerometer not found");
 			}
 			failed = true;
 		}
@@ -479,7 +479,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 		/* check if the primary device is present */
 		if (!prime_found && prime_id != 0) {
 			if (reportFailures) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
+				mavlink_log_critical(mavlink_log_pub, "Warning: Primary gyro not found");
 			}
 			failed = true;
 		}
@@ -509,7 +509,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 		// // check if the primary device is present
 		if (!prime_found && prime_id != 0) {
 			if (reportFailures) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
+				mavlink_log_critical(mavlink_log_pub, "warning: primary barometer not operational");
 			}
 			failed = true;
 		}
@@ -526,7 +526,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, bool checkMag, bool checkAcc,
 	if (checkRC) {
 		if (rc_calibration_check(mavlink_log_pub, reportFailures, isVTOL) != OK) {
 			if (reportFailures) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "RC calibration check failed");
+				mavlink_log_critical(mavlink_log_pub, "RC calibration check failed");
 			}
 			failed = true;
 		}
diff --git a/src/modules/commander/calibration_routines.h b/src/modules/commander/calibration_routines.h
index 42f6195613..c8ed7689f4 100644
--- a/src/modules/commander/calibration_routines.h
+++ b/src/modules/commander/calibration_routines.h
@@ -128,12 +128,12 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub,	///< uORB handle to w
 
 #define calibration_log_critical(_pub, _text, ...)			\
 	do { \
-		mavlink_and_console_log_critical(_pub, _text, ##__VA_ARGS__); \
+		mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
 		usleep(10000); \
 	} while(0);
 
 #define calibration_log_emergency(_pub, _text, ...)			\
 	do { \
-		mavlink_and_console_log_emergency(_pub, _text, ##__VA_ARGS__); \
+		mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
 		usleep(10000); \
 	} while(0);
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index bb4cdcb14b..611cfd638d 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -623,7 +623,7 @@ transition_result_t arm_disarm(bool arm, orb_advert_t *mavlink_log_pub_local, co
 	// For HIL platforms, require that simulated sensors are connected
 	if (arm && hrt_absolute_time() > commander_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL &&
 		is_hil_setup(autostart_id) && status.hil_state != vehicle_status_s::HIL_STATE_ON) {
-		mavlink_and_console_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
+		mavlink_log_critical(mavlink_log_pub_local, "HIL platform: Connect to simulator before arming");
 		return TRANSITION_DENIED;
 	}
 
@@ -1045,7 +1045,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
+				mavlink_log_critical(&mavlink_log_pub, "Takeoff denied, disarm and re-try");
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
 
@@ -1058,7 +1058,7 @@ bool handle_command(struct vehicle_status_s *status_local, const struct safety_s
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 			} else {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
+				mavlink_log_critical(&mavlink_log_pub, "Landing denied, land manually.");
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
 
@@ -2110,30 +2110,30 @@ int commander_thread_main(int argc, char *argv[])
 					critical_battery_voltage_actions_done = true;
 
 					if (!armed.armed) {
-						mavlink_and_console_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
+						mavlink_log_critical(&mavlink_log_pub, "CRITICAL BATTERY, SHUT SYSTEM DOWN");
 
 					} else {
 						if (low_bat_action == 1) {
 							// let us send the critical message even if already in RTL
 							if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_RTL, main_state_prev, &status_flags, &internal_state)) {
 								warning_action_on = true;
-								mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
+								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RETURNING TO LAND");
 
 							} else {
-								mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
+								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, RTL FAILED");
 							}
 
 						} else if (low_bat_action == 2) {
 							if (warning_action_on || TRANSITION_CHANGED == main_state_transition(&status, commander_state_s::MAIN_STATE_AUTO_LAND, main_state_prev, &status_flags, &internal_state)) {
 								warning_action_on = true;
-								mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
+								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING AT CURRENT POSITION");
 
 							} else {
-								mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
+								mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING FAILED");
 							}
 
 						} else {
-							mavlink_and_console_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING ADVISED!");
+							mavlink_log_emergency(&mavlink_log_pub, "CRITICAL BATTERY, LANDING ADVISED!");
 						}
 					}
 
@@ -2381,12 +2381,12 @@ int commander_thread_main(int argc, char *argv[])
 			static bool flight_termination_printed = false;
 
 			if (!flight_termination_printed) {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "Geofence violation: flight termination");
+				mavlink_log_critical(&mavlink_log_pub, "Geofence violation: flight termination");
 				flight_termination_printed = true;
 			}
 
 			if (counter % (1000000 / COMMANDER_MONITORING_INTERVAL) == 0) {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "Flight termination active");
+				mavlink_log_critical(&mavlink_log_pub, "Flight termination active");
 			}
 		}
 
@@ -2636,7 +2636,7 @@ int commander_thread_main(int argc, char *argv[])
 		} else {
 			if (!status.data_link_lost) {
 				if (armed.armed) {
-					mavlink_and_console_log_critical(&mavlink_log_pub, "ALL DATA LINKS LOST");
+					mavlink_log_critical(&mavlink_log_pub, "ALL DATA LINKS LOST");
 				}
 				status.data_link_lost = true;
 				status.data_link_lost_counter++;
@@ -2726,7 +2726,7 @@ int commander_thread_main(int argc, char *argv[])
 				static bool flight_termination_printed = false;
 
 				if (!flight_termination_printed) {
-					mavlink_and_console_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
+					mavlink_log_critical(&mavlink_log_pub, "DL and GPS lost: flight termination");
 					flight_termination_printed = true;
 				}
 
@@ -3716,7 +3716,7 @@ void *commander_low_prio_loop(void *arg)
 					int ret = param_save_default();
 
 					if (ret != OK) {
-						mavlink_and_console_log_critical(&mavlink_log_pub, "settings auto save error");
+						mavlink_log_critical(&mavlink_log_pub, "settings auto save error");
 					} else {
 						PX4_DEBUG("commander: settings saved.");
 					}
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index db6536cbcc..e6de118953 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -210,7 +210,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 
 					} else if (safety->safety_switch_available && !safety->safety_off) {
 
-						mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
+						mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
 						feedback_provided = true;
 						valid_transition = false;
 					}
@@ -221,7 +221,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 						// Fail transition if power is not good
 						if (!status_flags->condition_power_input_valid) {
 
-							mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Connect power module.");
+							mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Connect power module.");
 							feedback_provided = true;
 							valid_transition = false;
 						}
@@ -231,18 +231,18 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 						if (status_flags->condition_power_input_valid && (avionics_power_rail_voltage > 0.0f)) {
 							// Check avionics rail voltages
 							if (avionics_power_rail_voltage < 4.5f) {
-								mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt",
+								mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt",
 												 (double)avionics_power_rail_voltage);
 								feedback_provided = true;
 								valid_transition = false;
 
 							} else if (avionics_power_rail_voltage < 4.9f) {
-								mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt",
+								mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt",
 												 (double)avionics_power_rail_voltage);
 								feedback_provided = true;
 
 							} else if (avionics_power_rail_voltage > 5.4f) {
-								mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt",
+								mavlink_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt",
 												 (double)avionics_power_rail_voltage);
 								feedback_provided = true;
 							}
@@ -268,17 +268,17 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 			if (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
 				if (status_flags->condition_system_sensors_initialized) {
-					mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
+					mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot before arming");
 
 				} else {
-					mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
+					mavlink_log_critical(mavlink_log_pub, "Preflight check failed, refusing to arm");
 				}
 
 				feedback_provided = true;
 
 			} else if ((new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY) &&
 				   status_flags->condition_system_sensors_initialized) {
-				mavlink_and_console_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
+				mavlink_log_critical(mavlink_log_pub, "Preflight check resolved, reboot to complete");
 				feedback_provided = true;
 
 			} else {
@@ -296,7 +296,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 
 				if (status_flags->condition_system_hotplug_timeout) {
 					if (!status_flags->condition_system_prearm_error_reported) {
-						mavlink_and_console_log_critical(mavlink_log_pub,
+						mavlink_log_critical(mavlink_log_pub,
 										 "Not ready to fly: Sensors not set up correctly");
 						status_flags->condition_system_prearm_error_reported = true;
 					}
@@ -333,7 +333,7 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
 	if (ret == TRANSITION_DENIED) {
 		/* print to MAVLink and console if we didn't provide any feedback yet */
 		if (!feedback_provided) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s", state_names[status->arming_state],
+			mavlink_log_critical(mavlink_log_pub, "TRANSITION_DENIED: %s - %s", state_names[status->arming_state],
 							 state_names[new_arming_state]);
 		}
 	}
@@ -461,7 +461,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 		switch (new_state) {
 		case vehicle_status_s::HIL_STATE_OFF:
 			/* we're in HIL and unexpected things can happen if we disable HIL now */
-			mavlink_and_console_log_critical(mavlink_log_pub, "Not switching off HIL (safety)");
+			mavlink_log_critical(mavlink_log_pub, "Not switching off HIL (safety)");
 			ret = TRANSITION_DENIED;
 			break;
 
@@ -535,7 +535,7 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 					closedir(d);
 
 					ret = TRANSITION_CHANGED;
-					mavlink_and_console_log_critical(mavlink_log_pub, "Switched to ON hil state");
+					mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
 
 				} else {
 					/* failed opening dir */
@@ -600,11 +600,11 @@ transition_result_t hil_state_transition(hil_state_t new_state, orb_advert_t sta
 				}
 
 				ret = TRANSITION_CHANGED;
-				mavlink_and_console_log_critical(mavlink_log_pub, "Switched to ON hil state");
+				mavlink_log_critical(mavlink_log_pub, "Switched to ON hil state");
 #endif
 
 			} else {
-				mavlink_and_console_log_critical(mavlink_log_pub, "Not switching to HIL when armed");
+				mavlink_log_critical(mavlink_log_pub, "Not switching to HIL when armed");
 				ret = TRANSITION_DENIED;
 			}
 
@@ -1106,7 +1106,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
 		preflight_ok = false;
 
 		if (reportFailures) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
+			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: Flying with USB is not safe");
 		}
 	}
 
@@ -1114,7 +1114,7 @@ int preflight_check(struct vehicle_status_s *status, orb_advert_t *mavlink_log_p
 		preflight_ok = false;
 
 		if (reportFailures) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");
+			mavlink_log_critical(mavlink_log_pub, "ARMING DENIED: VERY LOW BATTERY");
 		}
 	}
 
diff --git a/src/modules/local_position_estimator/sensors/baro.cpp b/src/modules/local_position_estimator/sensors/baro.cpp
index 7bf908558d..b119a5537d 100644
--- a/src/modules/local_position_estimator/sensors/baro.cpp
+++ b/src/modules/local_position_estimator/sensors/baro.cpp
@@ -76,8 +76,8 @@ void BlockLocalPositionEstimator::baroCorrect()
 	if (beta > BETA_TABLE[n_y_baro]) {
 		if (_baroFault < FAULT_MINOR) {
 			if (beta > 2.0f * BETA_TABLE[n_y_baro]) {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
-								 double(r(0)), double(beta));
+				mavlink_log_critical(&mavlink_log_pub, "[lpe] baro fault, r %5.2f m, beta %5.2f",
+						     double(r(0)), double(beta));
 			}
 
 			_baroFault = FAULT_MINOR;
diff --git a/src/modules/local_position_estimator/sensors/flow.cpp b/src/modules/local_position_estimator/sensors/flow.cpp
index 85e53b8082..d5e31c1f98 100644
--- a/src/modules/local_position_estimator/sensors/flow.cpp
+++ b/src/modules/local_position_estimator/sensors/flow.cpp
@@ -190,7 +190,7 @@ void BlockLocalPositionEstimator::flowCheckTimeout()
 	if (_timeStamp - _time_last_flow > FLOW_TIMEOUT) {
 		if (_flowInitialized) {
 			flowDeinit();
-			mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] flow timeout ");
+			mavlink_log_critical(&mavlink_log_pub, "[lpe] flow timeout ");
 		}
 	}
 }
diff --git a/src/modules/local_position_estimator/sensors/gps.cpp b/src/modules/local_position_estimator/sensors/gps.cpp
index 982e0e8dc5..4a538539cb 100644
--- a/src/modules/local_position_estimator/sensors/gps.cpp
+++ b/src/modules/local_position_estimator/sensors/gps.cpp
@@ -203,9 +203,9 @@ void BlockLocalPositionEstimator::gpsCorrect()
 	if (beta > BETA_TABLE[n_y_gps]) {
 		if (_gpsFault < FAULT_MINOR) {
 			if (beta > 3.0f * BETA_TABLE[n_y_gps]) {
-				mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
-								 double(r(0)*r(0) / S_I(0, 0)),  double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
-								 double(r(3)*r(3) / S_I(3, 3)),  double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
+				mavlink_log_critical(&mavlink_log_pub, "[lpe] gps fault %3g %3g %3g %3g %3g %3g",
+						     double(r(0)*r(0) / S_I(0, 0)),  double(r(1)*r(1) / S_I(1, 1)), double(r(2)*r(2) / S_I(2, 2)),
+						     double(r(3)*r(3) / S_I(3, 3)),  double(r(4)*r(4) / S_I(4, 4)), double(r(5)*r(5) / S_I(5, 5)));
 			}
 
 			_gpsFault = FAULT_MINOR;
@@ -232,7 +232,7 @@ void BlockLocalPositionEstimator::gpsCheckTimeout()
 		if (_gpsInitialized) {
 			_gpsInitialized = false;
 			_gpsStats.reset();
-			mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] GPS timeout ");
+			mavlink_log_critical(&mavlink_log_pub, "[lpe] GPS timeout ");
 		}
 	}
 }
diff --git a/src/modules/local_position_estimator/sensors/vision.cpp b/src/modules/local_position_estimator/sensors/vision.cpp
index 0832b22473..714d7df359 100644
--- a/src/modules/local_position_estimator/sensors/vision.cpp
+++ b/src/modules/local_position_estimator/sensors/vision.cpp
@@ -109,7 +109,7 @@ void BlockLocalPositionEstimator::visionCheckTimeout()
 		if (_visionInitialized) {
 			_visionInitialized = false;
 			_visionStats.reset();
-			mavlink_and_console_log_critical(&mavlink_log_pub, "[lpe] vision position timeout ");
+			mavlink_log_critical(&mavlink_log_pub, "[lpe] vision position timeout ");
 		}
 	}
 }
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 91f414fc27..3638f837e9 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -1360,9 +1360,9 @@ int Logger::check_free_space()
 
 	/* use a threshold of 50 MiB */
 	if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
-		mavlink_and_console_log_critical(&_mavlink_log_pub,
-						 "[logger] Not logging; SD almost full: %u MiB",
-						 (unsigned int)(statfs_buf.f_bavail / 1024U * statfs_buf.f_bsize / 1024U));
+		mavlink_log_critical(&_mavlink_log_pub,
+				     "[logger] Not logging; SD almost full: %u MiB",
+				     (unsigned int)(statfs_buf.f_bavail / 1024U * statfs_buf.f_bsize / 1024U));
 		return 1;
 	}
 
diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp
index 12601a64b9..945407a346 100644
--- a/src/modules/navigator/geofence.cpp
+++ b/src/modules/navigator/geofence.cpp
@@ -141,7 +141,7 @@ bool Geofence::inside(double lat, double lon, float altitude)
 
 				if (max_vertical_distance > 0 && (dist_z > max_vertical_distance)) {
 					if (hrt_elapsed_time(&_last_vertical_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
-						mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(),
+						mavlink_log_critical(_navigator->get_mavlink_log_pub(),
 										 "Geofence exceeded max vertical distance by %.1f m",
 									         (double)(dist_z - max_vertical_distance));
 						_last_vertical_range_warning = hrt_absolute_time();
@@ -152,7 +152,7 @@ bool Geofence::inside(double lat, double lon, float altitude)
 
 				if (max_horizontal_distance > 0 && (dist_xy > max_horizontal_distance)) {
 					if (hrt_elapsed_time(&_last_horizontal_range_warning) > GEOFENCE_RANGE_WARNING_LIMIT) {
-						mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(),
+						mavlink_log_critical(_navigator->get_mavlink_log_pub(),
 										 "Geofence exceeded max horizontal distance by %.1f m",
 									         (double)(dist_xy - max_horizontal_distance));
 						_last_horizontal_range_warning = hrt_absolute_time();
diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 9c3eb8c886..681285acda 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -1088,7 +1088,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
 		if (*mission_index_ptr < 0 || *mission_index_ptr >= (int)mission->count) {
 			/* mission item index out of bounds - if they are equal, we just reached the end */
 			if (*mission_index_ptr != (int)mission->count) {
-				mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
+				mavlink_log_critical(_navigator->get_mavlink_log_pub(), "[wpm] err: index: %d, max: %d", *mission_index_ptr,
 								 (int)mission->count);
 			}
 
@@ -1103,7 +1103,7 @@ Mission::read_mission_item(bool onboard, int offset, struct mission_item_s *miss
 		/* read mission item from datamanager */
 		if (dm_read(dm_item, *mission_index_ptr, &mission_item_tmp, len) != len) {
 			/* not supposed to happen unless the datamanager can't access the SD card, etc. */
-			mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
+			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR waypoint could not be read");
 			return false;
 		}
 
@@ -1301,7 +1301,7 @@ Mission::reset_offboard_mission(struct mission_s &mission)
 			}
 
 		} else {
-			mavlink_and_console_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
+			mavlink_log_critical(_navigator->get_mavlink_log_pub(), "ERROR: could not read mission");
 
 			/* initialize mission state in dataman */
 			mission.dataman_id = 0;
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index d4d90e5ec8..37e237e04d 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -541,7 +541,7 @@ int open_log_file()
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -553,7 +553,7 @@ int open_log_file()
 #endif
 
 	if (fd < 0) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
 
 	} else {
 		mavlink_and_console_log_info(&mavlink_log_pub, "[blackbox] recording: %s", log_file_name);
@@ -593,7 +593,7 @@ int open_perf_file(const char* str)
 
 		if (file_number > MAX_NO_LOGFILE) {
 			/* we should not end up here, either we have more than MAX_NO_LOGFILE on the SD card, or another problem */
-			mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
+			mavlink_log_critical(&mavlink_log_pub, "[blackbox] ERR: max files %d", MAX_NO_LOGFILE);
 			return -1;
 		}
 	}
@@ -605,7 +605,7 @@ int open_perf_file(const char* str)
 #endif
 
 	if (fd < 0) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] failed: %s", log_file_name);
 
 	}
 
@@ -732,7 +732,7 @@ void sdlog2_start_log()
 
 	/* create log dir if needed */
 	if (create_log_dir() != 0) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir");
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] error creating log dir");
 		return;
 	}
 
@@ -2358,20 +2358,20 @@ int check_free_space()
 	/* use statfs to determine the number of blocks left */
 	FAR struct statfs statfs_buf;
 	if (statfs(mountpoint, &statfs_buf) != OK) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging");
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] no microSD card, disabling logging");
 		return PX4_ERROR;
 	}
 
 	/* use a threshold of 50 MiB */
 	if (statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(50 * 1024 * 1024 / statfs_buf.f_bsize)) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB",
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] no space on MicroSD: %u MiB",
 			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
 		/* we do not need a flag to remember that we sent this warning because we will exit anyway */
 		return PX4_ERROR;
 
 	/* use a threshold of 100 MiB to send a warning */
 	} else if (!space_warning_sent && statfs_buf.f_bavail < (px4_statfs_buf_f_bavail_t)(100 * 1024 * 1024 / statfs_buf.f_bsize)) {
-		mavlink_and_console_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB",
+		mavlink_log_critical(&mavlink_log_pub, "[blackbox] space on MicroSD low: %u MiB",
 			(unsigned int)(statfs_buf.f_bavail * statfs_buf.f_bsize) / (1024U * 1024U));
 		/* we don't want to flood the user with warnings */
 		space_warning_sent = true;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 9aa39cb358..64ab5256b0 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -2185,14 +2185,14 @@ Sensors::check_failover(SensorData &sensor, const char *sensor_name)
 			PX4_INFO("%s sensor switch from #%i", sensor_name, sensor.voter.failover_index());
 
 		} else {
-			mavlink_and_console_log_emergency(&_mavlink_log_pub, "%s #%i failover :%s%s%s%s%s!",
-							  sensor_name,
-							  sensor.voter.failover_index(),
-							  ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
-							  ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
-							  ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
-							  ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
-							  ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
+			mavlink_log_emergency(&_mavlink_log_pub, "%s #%i failover :%s%s%s%s%s!",
+					      sensor_name,
+					      sensor.voter.failover_index(),
+					      ((flags & DataValidator::ERROR_FLAG_NO_DATA) ? " No data" : ""),
+					      ((flags & DataValidator::ERROR_FLAG_STALE_DATA) ? " Stale data" : ""),
+					      ((flags & DataValidator::ERROR_FLAG_TIMEOUT) ? " Data timeout" : ""),
+					      ((flags & DataValidator::ERROR_FLAG_HIGH_ERRCOUNT) ? " High error count" : ""),
+					      ((flags & DataValidator::ERROR_FLAG_HIGH_ERRDENSITY) ? " High error density" : ""));
 		}
 
 		sensor.last_failover_count = sensor.voter.failover_count();
@@ -2217,10 +2217,10 @@ Sensors::check_vibration()
 
 		} else if (hrt_elapsed_time(&_vibration_warning_timestamp) > 10000 * 1000) {
 			_vibration_warning = true;
-			mavlink_and_console_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
-							 (int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
-							 (int)(100 * _accel.voter.get_vibration_factor(cur_time)),
-							 (int)(100 * _mag.voter.get_vibration_factor(cur_time)));
+			mavlink_log_critical(&_mavlink_log_pub, "HIGH VIBRATION! g: %d a: %d m: %d",
+					     (int)(100 * _gyro.voter.get_vibration_factor(cur_time)),
+					     (int)(100 * _accel.voter.get_vibration_factor(cur_time)),
+					     (int)(100 * _mag.voter.get_vibration_factor(cur_time)));
 			ret = true;
 		}
 
diff --git a/src/modules/systemlib/mavlink_log.h b/src/modules/systemlib/mavlink_log.h
index 7ca58d9b65..6613e18038 100644
--- a/src/modules/systemlib/mavlink_log.h
+++ b/src/modules/systemlib/mavlink_log.h
@@ -73,23 +73,7 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
  */
 
 /**
- * Send a mavlink emergency message.
- *
- * @param _pub		Pointer to the uORB advert;
- * @param _text		The text to log;
- */
-#define mavlink_log_emergency(_pub, _text, ...)	mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__);
-
-/**
- * Send a mavlink critical message.
- *
- * @param _pub		Pointer to the uORB advert;
- * @param _text		The text to log;
- */
-#define mavlink_log_critical(_pub, _text, ...)	mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__);
-
-/**
- * Send a mavlink info message.
+ * Send a mavlink info message (not printed to console).
  *
  * @param _pub		Pointer to the uORB advert;
  * @param _text		The text to log;
@@ -102,9 +86,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
  * @param _pub		Pointer to the uORB advert;
  * @param _text		The text to log;
  */
-#define mavlink_and_console_log_emergency(_pub, _text, ...) \
+#define mavlink_log_emergency(_pub, _text, ...) \
 	do { \
-		mavlink_log_emergency(_pub, _text, ##__VA_ARGS__); \
+		mavlink_vasprintf(_MSG_PRIO_EMERGENCY, _pub, _text, ##__VA_ARGS__); \
 		PX4_ERR(_text, ##__VA_ARGS__); \
 	} while(0);
 
@@ -114,9 +98,9 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con
  * @param _pub		Pointer to the uORB advert;
  * @param _text		The text to log;
  */
-#define mavlink_and_console_log_critical(_pub, _text, ...) \
+#define mavlink_log_critical(_pub, _text, ...) \
 	do { \
-		mavlink_log_critical(_pub, _text, ##__VA_ARGS__); \
+		mavlink_vasprintf(_MSG_PRIO_CRITICAL, _pub, _text, ##__VA_ARGS__); \
 		PX4_WARN(_text, ##__VA_ARGS__); \
 	} while(0);
 
diff --git a/src/modules/systemlib/rc_check.c b/src/modules/systemlib/rc_check.c
index 92e1a920b1..5d98463378 100644
--- a/src/modules/systemlib/rc_check.c
+++ b/src/modules/systemlib/rc_check.c
@@ -100,7 +100,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		param_t map_parm = param_find(rc_map_mandatory[j]);
 
 		if (map_parm == PARAM_INVALID) {
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: PARAM %s MISSING", rc_map_mandatory[j]); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -113,7 +113,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		param_get(map_parm, &mapping);
 
 		if (mapping > RC_INPUT_MAX_CHANNELS) {
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: %s >= # CHANS", rc_map_mandatory[j]); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -121,7 +121,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		}
 
 		if (mapping == 0) {
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: Mandatory %s is unmapped", rc_map_mandatory[j]); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -174,7 +174,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		if (param_min < RC_INPUT_LOWEST_MIN_US) {
 			count++;
 
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MIN < %u", i + 1, RC_INPUT_LOWEST_MIN_US); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -183,7 +183,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		if (param_max > RC_INPUT_HIGHEST_MAX_US) {
 			count++;
 
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_MAX > %u", i + 1, RC_INPUT_HIGHEST_MAX_US); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -192,7 +192,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		if (param_trim < param_min) {
 			count++;
 
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM < MIN (%d/%d)", i + 1, (int)param_trim, (int)param_min); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -201,7 +201,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		if (param_trim > param_max) {
 			count++;
 
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_TRIM > MAX (%d/%d)", i + 1, (int)param_trim, (int)param_max); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -209,7 +209,7 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 
 		/* assert deadzone is sane */
 		if (param_dz > RC_INPUT_MAX_DEADZONE_US) {
-			if (report_fail) { mavlink_and_console_log_critical(mavlink_log_pub, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
+			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "RC ERR: RC_%d_DZ > %u", i + 1, RC_INPUT_MAX_DEADZONE_US); }
 
 			/* give system time to flush error message in case there are more */
 			usleep(100000);
@@ -227,9 +227,9 @@ int rc_calibration_check(orb_advert_t *mavlink_log_pub, bool report_fail, bool i
 		sleep(2);
 
 		if (report_fail) {
-			mavlink_and_console_log_critical(mavlink_log_pub, "%d config error%s for %d RC channel%s.",
-							 total_fail_count,
-							 (total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
+			mavlink_log_critical(mavlink_log_pub, "%d config error%s for %d RC channel%s.",
+					     total_fail_count,
+					     (total_fail_count > 1) ? "s" : "", channels_failed, (channels_failed > 1) ? "s" : "");
 		}
 
 		usleep(100000);