diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.cpp b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
index 0de442dc7f..173d12c8f4 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.cpp
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.cpp
@@ -869,6 +869,7 @@ void AP_SmartRTL::deactivate(SRTL_Actions action, const char *reason)
     GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "SmartRTL deactivated: %s", reason);
 }
 
+#if HAL_LOGGING_ENABLED
 // logging
 void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
 {
@@ -876,6 +877,7 @@ void AP_SmartRTL::log_action(SRTL_Actions action, const Vector3f &point) const
         AP::logger().Write_SRTL(_active, _path_points_count, _path_points_max, action, point);
     }
 }
+#endif
 
 // returns true if the two loops overlap (used within add_loop to determine which loops to keep or throw away)
 bool AP_SmartRTL::loops_overlap(const prune_loop_t &loop1, const prune_loop_t &loop2) const
diff --git a/libraries/AP_SmartRTL/AP_SmartRTL.h b/libraries/AP_SmartRTL/AP_SmartRTL.h
index a83cad692a..144762e512 100644
--- a/libraries/AP_SmartRTL/AP_SmartRTL.h
+++ b/libraries/AP_SmartRTL/AP_SmartRTL.h
@@ -3,6 +3,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Common/Bitmask.h>
 #include <AP_Math/AP_Math.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 // definitions and macros
 #define SMARTRTL_ACCURACY_DEFAULT        2.0f   // default _ACCURACY parameter value.  Points will be no closer than this distance (in meters) together.
@@ -172,8 +173,12 @@ private:
     // de-activate SmartRTL, send warning to GCS and logger
     void deactivate(SRTL_Actions action, const char *reason);
 
+#if HAL_LOGGING_ENABLED
     // logging
     void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const;
+#else
+    void log_action(SRTL_Actions action, const Vector3f &point = Vector3f()) const {}
+#endif
 
     // parameters
     AP_Float _accuracy;