diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index b31ae5c848..25058e3a10 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -912,9 +912,9 @@ AP_GPS::GPS_Status AP_GPS::highest_supported_status(uint8_t instance) const
     return AP_GPS::GPS_OK_FIX_3D;
 }
 
+#if HAL_LOGGING_ENABLED
 bool AP_GPS::should_log() const
 {
-#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         return false;
@@ -926,10 +926,8 @@ bool AP_GPS::should_log() const
         return false;
     }
     return true;
-#else
-    return false;
-#endif
 }
+#endif
 
 
 /*
@@ -1775,6 +1773,7 @@ bool AP_GPS::parse_rtcm_injection(mavlink_channel_t chan, const mavlink_gps_rtcm
 }
 #endif // AP_GPS_RTCM_DECODE_ENABLED
 
+#if HAL_LOGGING_ENABLED
 void AP_GPS::Write_AP_Logger_Log_Startup_messages()
 {
     for (uint8_t instance=0; instance<num_instances; instance++) {
@@ -1784,6 +1783,7 @@ void AP_GPS::Write_AP_Logger_Log_Startup_messages()
         drivers[instance]->Write_AP_Logger_Log_Startup_messages();
     }
 }
+#endif
 
 /*
   return the expected lag (in seconds) in the position and velocity readings from the gps
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 3efa390427..514c2b59d8 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -530,7 +530,9 @@ public:
 
     static const struct AP_Param::GroupInfo var_info[];
 
+#if HAL_LOGGING_ENABLED
     void Write_AP_Logger_Log_Startup_messages();
+#endif
 
     // indicate which bit in LOG_BITMASK indicates gps logging enabled
     void set_log_gps_bit(uint32_t bit) { _log_gps_bit = bit; }
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.cpp b/libraries/AP_GPS/AP_GPS_NMEA.cpp
index 1712f6754b..0ec48ce9ae 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.cpp
+++ b/libraries/AP_GPS/AP_GPS_NMEA.cpp
@@ -957,9 +957,9 @@ bool AP_GPS_NMEA::get_lag(float &lag_sec) const
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_GPS_NMEA::Write_AP_Logger_Log_Startup_messages() const
 {
-#if HAL_LOGGING_ENABLED
     AP_GPS_Backend::Write_AP_Logger_Log_Startup_messages();
 #if AP_GPS_NMEA_UNICORE_ENABLED
     if (_have_unicore_versiona) {
@@ -970,7 +970,7 @@ void AP_GPS_NMEA::Write_AP_Logger_Log_Startup_messages() const
                                     _versiona.build_date);
     }
 #endif
-#endif
 }
+#endif
 
 #endif // AP_GPS_NMEA_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_NMEA.h b/libraries/AP_GPS/AP_GPS_NMEA.h
index 330a7b5870..3109600b4e 100644
--- a/libraries/AP_GPS/AP_GPS_NMEA.h
+++ b/libraries/AP_GPS/AP_GPS_NMEA.h
@@ -72,7 +72,9 @@ public:
     // get lag in seconds
     bool get_lag(float &lag_sec) const override;
 
+#if HAL_LOGGING_ENABLED
     void Write_AP_Logger_Log_Startup_messages() const override;
+#endif
 
 private:
     /// Coding for the GPS sentences that the parser handles
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.cpp b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
index f073201373..9d9604f21f 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.cpp
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.cpp
@@ -2111,9 +2111,9 @@ bool AP_GPS_UBLOX::get_lag(float &lag_sec) const
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_GPS_UBLOX::Write_AP_Logger_Log_Startup_messages() const
 {
-#if HAL_LOGGING_ENABLED
     AP_GPS_Backend::Write_AP_Logger_Log_Startup_messages();
 
     if (_have_version) {
@@ -2122,8 +2122,8 @@ void AP_GPS_UBLOX::Write_AP_Logger_Log_Startup_messages() const
                                            _version.hwVersion,
                                            _version.swVersion);
     }
-#endif
 }
+#endif
 
 // uBlox specific check_new_itow(), handling message length
 void AP_GPS_UBLOX::_check_new_itow(uint32_t itow)
diff --git a/libraries/AP_GPS/AP_GPS_UBLOX.h b/libraries/AP_GPS/AP_GPS_UBLOX.h
index cbf21f925d..738dac3b42 100644
--- a/libraries/AP_GPS/AP_GPS_UBLOX.h
+++ b/libraries/AP_GPS/AP_GPS_UBLOX.h
@@ -152,7 +152,9 @@ public:
     };
 
     void broadcast_configuration_failure_reason(void) const override;
+#if HAL_LOGGING_ENABLED
     void Write_AP_Logger_Log_Startup_messages() const override;
+#endif
 
     // get the velocity lag, returns true if the driver is confident in the returned value
     bool get_lag(float &lag_sec) const override;
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
index 7631837860..a976ea280c 100644
--- a/libraries/AP_GPS/GPS_Backend.cpp
+++ b/libraries/AP_GPS/GPS_Backend.cpp
@@ -156,19 +156,19 @@ void AP_GPS_Backend::broadcast_gps_type() const
     GCS_SEND_TEXT(MAV_SEVERITY_INFO, "%s", buffer);
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_GPS_Backend::Write_AP_Logger_Log_Startup_messages() const
 {
-#if HAL_LOGGING_ENABLED
     char buffer[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
     _detection_message(buffer, sizeof(buffer));
     AP::logger().Write_Message(buffer);
-#endif
 }
 
 bool AP_GPS_Backend::should_log() const
 {
     return gps.should_log();
 }
+#endif
 
 
 #if HAL_GCS_ENABLED
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index 2fdae674d9..2544fcdefb 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -95,7 +95,9 @@ public:
     virtual const char *name() const = 0;
 
     void broadcast_gps_type() const;
+#if HAL_LOGGING_ENABLED
     virtual void Write_AP_Logger_Log_Startup_messages() const;
+#endif
 
     virtual bool prepare_for_arming(void) { return true; }