diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 282237fb3a..e82241ab3c 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -1160,6 +1160,7 @@ void AC_PosControl::standby_xyz_reset()
     init_ekf_xy_reset();
 }
 
+#if HAL_LOGGING_ENABLED
 // write PSC and/or PSCZ logs
 void AC_PosControl::write_log()
 {
@@ -1180,6 +1181,7 @@ void AC_PosControl::write_log()
                                 -_accel_desired.z, -get_accel_target_cmss().z, -get_z_accel_cmss());
     }
 }
+#endif  // HAL_LOGGING_ENABLED
 
 /// crosstrack_error - returns horizontal error to the closest point to the current track
 float AC_PosControl::crosstrack_error() const
diff --git a/libraries/AC_AttitudeControl/ControlMonitor.cpp b/libraries/AC_AttitudeControl/ControlMonitor.cpp
index 6bd6760735..1535a9f273 100644
--- a/libraries/AC_AttitudeControl/ControlMonitor.cpp
+++ b/libraries/AC_AttitudeControl/ControlMonitor.cpp
@@ -37,6 +37,7 @@ void AC_AttitudeControl::control_monitor_update(void)
     control_monitor_filter_pid(iyaw.P + iyaw.D + iyaw.FF,  _control_monitor.rms_yaw);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log a CTRL message
  */
@@ -59,6 +60,7 @@ void AC_AttitudeControl::control_monitor_log(void) const
                                            (double)safe_sqrt(_control_monitor.rms_yaw));
 
 }
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   return current controller RMS filter value for roll