diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index df79800342..5d432f9f5e 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -611,7 +611,6 @@ NavEKF2::NavEKF2()
     AP_Param::setup_object_defaults(this, var_info);
 }
 
-#include <stdio.h>
 
 // Initialise the filter
 bool NavEKF2::InitialiseFilter(void)
@@ -1571,8 +1570,6 @@ uint32_t NavEKF2::getLastPosDownReset(float &posDelta)
 // update the yaw reset data to capture changes due to a lane switch
 void NavEKF2::updateLaneSwitchYawResetData(uint8_t new_primary, uint8_t old_primary)
 {
-    // AP_DAL::log_updateLaneSwitchYawResetData(new_primary, old_primary);
-
     Vector3f eulers_old_primary, eulers_new_primary;
     float old_yaw_delta;
 
@@ -1599,8 +1596,6 @@ void NavEKF2::updateLaneSwitchYawResetData(uint8_t new_primary, uint8_t old_prim
 // update the position reset data to capture changes due to a lane switch
 void NavEKF2::updateLaneSwitchPosResetData(uint8_t new_primary, uint8_t old_primary)
 {
-    // AP_DAL::log_updateLaneSwitchPosResetData(new_primary, old_primary);
-
     Vector2f pos_old_primary, pos_new_primary, old_pos_delta;
 
     // If core position reset data has been consumed reset delta to zero
@@ -1628,8 +1623,6 @@ void NavEKF2::updateLaneSwitchPosResetData(uint8_t new_primary, uint8_t old_prim
 // new primary EKF update has been run
 void NavEKF2::updateLaneSwitchPosDownResetData(uint8_t new_primary, uint8_t old_primary)
 {
-    // AP_DAL::log_updateLaneSwitchPosResetData(new_primary, old_primary);
-
     float posDownOldPrimary, posDownNewPrimary, oldPosDownDelta;
 
     // If core position reset data has been consumed reset delta to zero
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.h b/libraries/AP_NavEKF2/AP_NavEKF2.h
index 8333e875af..86dab18caf 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.h
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.h
@@ -314,9 +314,6 @@ public:
     // allow the enable flag to be set by Replay
     void set_enable(bool enable) { _enable.set_enable(enable); }
 
-    // are we doing sensor logging inside the EKF?
-    bool have_ekf_logging(void) const { return false; }
-
     // get timing statistics structure
     void getTimingStatistics(int8_t instance, struct ekf_timing &timing) const;
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index d03117cf3e..8fdb0a99c5 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -4,8 +4,6 @@
 #include "AP_NavEKF2_core.h"
 #include <GCS_MAVLink/GCS.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
index edeca280cf..f16311fe9b 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
@@ -4,8 +4,6 @@
 #include "AP_NavEKF2_core.h"
 #include <AP_DAL/AP_DAL.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 /********************************************************
diff --git a/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp b/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
index b1272e33c9..f2b73f110a 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF_GyroBias.cpp
@@ -5,8 +5,6 @@
 #include "AP_NavEKF2_core.h"
 #include <AP_Vehicle/AP_Vehicle.h>
 
-#include <stdio.h>
-
 extern const AP_HAL::HAL& hal;
 
 // reset the body axis gyro bias states to zero and re-initialise the corresponding covariances