diff --git a/libraries/AP_DAL/AP_DAL.cpp b/libraries/AP_DAL/AP_DAL.cpp
index b05c411e5d..986fe66bcf 100644
--- a/libraries/AP_DAL/AP_DAL.cpp
+++ b/libraries/AP_DAL/AP_DAL.cpp
@@ -38,11 +38,13 @@ void AP_DAL::start_frame(AP_DAL::FrameType frametype)
     _last_imu_time_us = imu_us;
 
     // we force write all msgs when logging starts
+#if HAL_LOGGING_ENABLED
     bool logging = AP::logger().logging_started() && AP::logger().allow_start_ekf();
     if (logging && !logging_started) {
         force_write = true;
     }
     logging_started = logging;
+#endif
 
     end_frame();
 
@@ -280,6 +282,7 @@ uint8_t AP_DAL::logging_core(uint8_t c) const
 #endif
 }
 
+#if HAL_LOGGING_ENABLED
 // write out a DAL log message. If old_msg is non-null, then
 // only write if the content has changed
 void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size)
@@ -301,6 +304,7 @@ void AP_DAL::WriteLogMessage(enum LogMessages msg_type, void *msg, const void *o
         _end = 0;
     }
 }
+#endif
 
 /*
   check if we are low on CPU for this core. This needs to capture the
diff --git a/libraries/AP_DAL/AP_DAL.h b/libraries/AP_DAL/AP_DAL.h
index 671499b547..d8c92e01b5 100644
--- a/libraries/AP_DAL/AP_DAL.h
+++ b/libraries/AP_DAL/AP_DAL.h
@@ -324,9 +324,11 @@ public:
     // map core number for replay
     uint8_t logging_core(uint8_t c) const;
 
+#if HAL_LOGGING_ENABLED
     // write out a DAL log message. If old_msg is non-null, then
     // only write if the content has changed
     static void WriteLogMessage(enum LogMessages msg_type, void *msg, const void *old_msg, uint8_t msg_size);
+#endif
 
 private:
 
@@ -376,10 +378,15 @@ private:
     bool init_done;
 };
 
+#if HAL_LOGGING_ENABLED
 #define WRITE_REPLAY_BLOCK(sname,v) AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, nullptr, offsetof(log_ ##sname, _end))
 #define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { static_assert(sizeof(v) == sizeof(old), "types must match"); \
                                                       AP_DAL::WriteLogMessage(LOG_## sname ##_MSG, &v, &old, offsetof(log_ ##sname, _end)); } \
                                                  while (0)
+#else
+#define WRITE_REPLAY_BLOCK(sname,v) do { (void)v; } while (false)
+#define WRITE_REPLAY_BLOCK_IFCHANGED(sname,v,old) do { (void)old; } while (false)
+#endif
 
 namespace AP {
     AP_DAL &dal();