Information
All commands executed via sudo should be logged to either syslog (default) or a dedicated log file
Note: visudo edits the sudoers file in a safe fashion, analogous to vipw(8). visudo locks the sudoers file against multiple simultaneous edits, provides basic sanity checks, and checks or parse errors. If the sudoers file is currently being edited you will receive a message to try again later.
Logging of commands executed via sudo enables auditing of those commands
Solution
Edit the file /etc/sudoers or a file in /etc/sudoers.d/ with visudo -f <PATH TO FILE>
Remove the any lines which are found containing
syslog_badpri=none
or
syslog_goodpri=none
-OR-
If you do not want to log sudo commands to syslog, to use as sudo specific log file add the following line:
Defaults logfile="<PATH TO CUSTOM LOG FILE>"
Example:
Defaults logfile="/var/log/sudo.log"