diff --git a/Rover/AP_Arming.cpp b/Rover/AP_Arming.cpp
index 02744eacd1..36a28aea87 100644
--- a/Rover/AP_Arming.cpp
+++ b/Rover/AP_Arming.cpp
@@ -106,7 +106,9 @@ void AP_Arming_Rover::update_soft_armed()
 {
     hal.util->set_soft_armed(is_armed() &&
                              hal.util->safety_switch_state() != AP_HAL::Util::SAFETY_DISARMED);
+#if HAL_LOGGING_ENABLED
     AP::logger().set_vehicle_armed(hal.util->get_soft_armed());
+#endif
 }
 
 /*
diff --git a/Rover/GCS_Mavlink.cpp b/Rover/GCS_Mavlink.cpp
index e13e35bebc..bf86b9c7e3 100644
--- a/Rover/GCS_Mavlink.cpp
+++ b/Rover/GCS_Mavlink.cpp
@@ -1065,7 +1065,11 @@ void GCS_MAVLINK_Rover::handle_set_position_target_global_int(const mavlink_mess
 
 void GCS_MAVLINK_Rover::handle_radio(const mavlink_message_t &msg)
 {
+#if HAL_LOGGING_ENABLED
     handle_radio_status(msg, rover.should_log(MASK_LOG_PM));
+#else
+    handle_radio_status(msg, false);
+#endif
 }
 
 /*
diff --git a/Rover/Log.cpp b/Rover/Log.cpp
index 36403f66d2..f102fa95c0 100644
--- a/Rover/Log.cpp
+++ b/Rover/Log.cpp
@@ -2,7 +2,7 @@
 
 #include <AP_RangeFinder/AP_RangeFinder_Backend.h>
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
 
 // Write an attitude packet
 void Rover::Log_Write_Attitude()
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
index ac1bdb29ab..ec6c8063ca 100644
--- a/Rover/Parameters.cpp
+++ b/Rover/Parameters.cpp
@@ -316,9 +316,11 @@ const AP_Param::Info Rover::var_info[] = {
     // @Path: ../libraries/AP_Arming/AP_Arming.cpp
     GOBJECT(arming,                 "ARMING_", AP_Arming),
 
+#if HAL_LOGGING_ENABLED
     // @Group: LOG
     // @Path: ../libraries/AP_Logger/AP_Logger.cpp
     GOBJECT(logger,           "LOG",  AP_Logger),
+#endif
 
     // @Group: BATT
     // @Path: ../libraries/AP_BattMonitor/AP_BattMonitor.cpp
diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index 82b7f46e37..8e0faed41e 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -89,8 +89,10 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AP_WindVane,         &rover.g2.windvane,      update,         20,  100,  30),
     SCHED_TASK(update_wheel_encoder,   50,    200,  36),
     SCHED_TASK(update_compass,         10,    200,  39),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK(update_logging1,        10,    200,  45),
     SCHED_TASK(update_logging2,        10,    200,  48),
+#endif
     SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_receive,                    400,    500,  51),
     SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_send,                       400,   1000,  54),
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_mode_switch,        7,    200,  57),
@@ -123,11 +125,13 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK_CLASS(AC_Sprayer,          &rover.g2.sprayer,       update,          3,  90,  99),
 #endif
     SCHED_TASK(compass_save,            0.1,  200, 105),
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Logger,           &rover.logger,           periodic_tasks, 50,  300, 108),
 #endif
     SCHED_TASK_CLASS(AP_InertialSensor,   &rover.ins,              periodic,      400,  200, 111),
+#if HAL_LOGGING_ENABLED
     SCHED_TASK_CLASS(AP_Scheduler,        &rover.scheduler,        update_logging, 0.1, 200, 114),
+#endif
 #if HAL_BUTTON_ENABLED
     SCHED_TASK_CLASS(AP_Button,           &rover.button,           update,          5,  200, 117),
 #endif
@@ -156,7 +160,9 @@ constexpr int8_t Rover::_failsafe_priorities[7];
 Rover::Rover(void) :
     AP_Vehicle(),
     param_loader(var_info),
+#if HAL_LOGGING_ENABLED
     logger{g.log_bitmask},
+#endif
     modes(&g.mode1),
     control_mode(&mode_initializing)
 {
@@ -336,6 +342,7 @@ void Rover::ahrs_update()
         ground_speed = ahrs.groundspeed();
     }
 
+#if HAL_LOGGING_ENABLED
     if (should_log(MASK_LOG_ATTITUDE_FAST)) {
         Log_Write_Attitude();
         Log_Write_Sail();
@@ -348,6 +355,7 @@ void Rover::ahrs_update()
     if (should_log(MASK_LOG_VIDEO_STABILISATION)) {
         ahrs.write_video_stabilisation();
     }
+#endif
 }
 
 /*
@@ -376,6 +384,7 @@ void Rover::gcs_failsafe_check(void)
     failsafe_trigger(FAILSAFE_EVENT_GCS, "GCS", do_failsafe);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   log some key data - 10Hz
  */
@@ -435,7 +444,7 @@ void Rover::update_logging2(void)
     }
 #endif
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 /*
   once a second events
diff --git a/Rover/Rover.h b/Rover/Rover.h
index c6aa6db497..cbc508cd2c 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -136,7 +136,9 @@ private:
     RC_Channel *channel_pitch;
     RC_Channel *channel_walking_height;
 
+#if HAL_LOGGING_ENABLED
     AP_Logger logger;
+#endif
 
     // flight modes convenience array
     AP_Int8 *modes;
@@ -226,7 +228,9 @@ private:
     static const AP_Scheduler::Task scheduler_tasks[];
 
     static const AP_Param::Info var_info[];
+#if HAL_LOGGING_ENABLED
     static const LogStructure log_structure[];
+#endif
 
     // time that rudder/steering arming has been running
     uint32_t rudder_arm_timer;
diff --git a/Rover/config.h b/Rover/config.h
index 7a280e88f3..ef64d393c0 100644
--- a/Rover/config.h
+++ b/Rover/config.h
@@ -45,13 +45,6 @@
   #define CRUISE_SPEED    2  // in m/s
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Logging control
-//
-#ifndef LOGGING_ENABLED
-  #define LOGGING_ENABLED ENABLED
-#endif
-
 #define DEFAULT_LOG_BITMASK    0xffff
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/Rover/crash_check.cpp b/Rover/crash_check.cpp
index feafdf7f6f..061e57ae9c 100644
--- a/Rover/crash_check.cpp
+++ b/Rover/crash_check.cpp
@@ -45,8 +45,8 @@ void Rover::crash_check()
     }
 
     if (crashed) {
-        AP::logger().Write_Error(LogErrorSubsystem::CRASH_CHECK,
-                                 LogErrorCode::CRASH_CHECK_CRASH);
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::CRASH_CHECK,
+                           LogErrorCode::CRASH_CHECK_CRASH);
 
         if (is_balancebot()) {
             // send message to gcs
diff --git a/Rover/cruise_learn.cpp b/Rover/cruise_learn.cpp
index 55d0e338ca..e844011296 100644
--- a/Rover/cruise_learn.cpp
+++ b/Rover/cruise_learn.cpp
@@ -15,7 +15,9 @@ void Rover::cruise_learn_start()
     cruise_learn.throttle_filt.reset(g2.motors.get_throttle());
     cruise_learn.learn_start_ms = AP_HAL::millis();
     cruise_learn.log_count = 0;
+#if HAL_LOGGING_ENABLED
     log_write_cruise_learn();
+#endif
     gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning started");
 }
 
@@ -29,10 +31,12 @@ void Rover::cruise_learn_update()
         cruise_learn.speed_filt.apply(speed, 0.02f);
         cruise_learn.throttle_filt.apply(g2.motors.get_throttle(), 0.02f);
         // 10Hz logging
+#if HAL_LOGGING_ENABLED
         if (cruise_learn.log_count % 5 == 0) {
             log_write_cruise_learn();
         }
         cruise_learn.log_count += 1;
+#endif
         // check how long it took to learn
         if (AP_HAL::millis() - cruise_learn.learn_start_ms >= 2000) {
             cruise_learn_complete();
@@ -56,10 +60,13 @@ void Rover::cruise_learn_complete()
             gcs().send_text(MAV_SEVERITY_CRITICAL, "Cruise Learning failed");
         }
         cruise_learn.learn_start_ms = 0;
+#if HAL_LOGGING_ENABLED
         log_write_cruise_learn();
+#endif
     }
 }
 
+#if HAL_LOGGING_ENABLED
 // logging for cruise learn
 void Rover::log_write_cruise_learn() const
 {
@@ -77,3 +84,4 @@ void Rover::log_write_cruise_learn() const
                        cruise_learn.speed_filt.get(),
                        cruise_learn.throttle_filt.get());
 }
+#endif
diff --git a/Rover/ekf_check.cpp b/Rover/ekf_check.cpp
index 7f6d04b637..cf20b55970 100644
--- a/Rover/ekf_check.cpp
+++ b/Rover/ekf_check.cpp
@@ -53,7 +53,7 @@ void Rover::ekf_check()
                 ekf_check_state.fail_count = EKF_CHECK_ITERATIONS_MAX;
                 ekf_check_state.bad_variance = true;
 
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
                                          LogErrorCode::EKFCHECK_BAD_VARIANCE);
                 // send message to gcs
                 if ((AP_HAL::millis() - ekf_check_state.last_warn_time) > EKF_CHECK_WARNING_TIME) {
@@ -71,7 +71,7 @@ void Rover::ekf_check()
             // if variance is flagged as bad and the counter reaches zero then clear flag
             if (ekf_check_state.bad_variance && ekf_check_state.fail_count == 0) {
                 ekf_check_state.bad_variance = false;
-                AP::logger().Write_Error(LogErrorSubsystem::EKFCHECK,
+                LOGGER_WRITE_ERROR(LogErrorSubsystem::EKFCHECK,
                                          LogErrorCode::EKFCHECK_VARIANCE_CLEARED);
                 // clear failsafe
                 failsafe_ekf_off_event();
@@ -156,7 +156,7 @@ void Rover::failsafe_ekf_event()
 
     // EKF failsafe event has occurred
     failsafe.ekf = true;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
                              LogErrorCode::FAILSAFE_OCCURRED);
 
     // does this mode require position?
@@ -189,7 +189,7 @@ void Rover::failsafe_ekf_off_event(void)
     }
 
     failsafe.ekf = false;
-    AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_EKFINAV,
+    LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_EKFINAV,
                              LogErrorCode::FAILSAFE_RESOLVED);
     gcs().send_text(MAV_SEVERITY_CRITICAL,"EKF failsafe cleared");
 }
diff --git a/Rover/fence.cpp b/Rover/fence.cpp
index 7150c88c46..4c29b48d24 100644
--- a/Rover/fence.cpp
+++ b/Rover/fence.cpp
@@ -51,11 +51,11 @@ void Rover::fence_check()
                 set_mode(mode_hold, ModeReason::FENCE_BREACHED);
             }
         }
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE, LogErrorCode(new_breaches));
 
     } else if (orig_breaches) {
         // record clearing of breach
-        AP::logger().Write_Error(LogErrorSubsystem::FAILSAFE_FENCE,
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FAILSAFE_FENCE,
                                  LogErrorCode::ERROR_RESOLVED);
     }
 #endif // AP_FENCE_ENABLED
diff --git a/Rover/mode_auto.cpp b/Rover/mode_auto.cpp
index 5d2029b820..d10f64fdfd 100644
--- a/Rover/mode_auto.cpp
+++ b/Rover/mode_auto.cpp
@@ -512,10 +512,12 @@ void ModeAuto::send_guided_position_target()
 /********************************************************************************/
 bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
 {
+#if HAL_LOGGING_ENABLED
     // log when new commands start
     if (rover.should_log(MASK_LOG_CMD)) {
         rover.logger.Write_Mission_Cmd(mission, cmd);
     }
+#endif
 
     switch (cmd.id) {
     case MAV_CMD_NAV_WAYPOINT:  // Navigate to Waypoint
diff --git a/Rover/mode_dock.cpp b/Rover/mode_dock.cpp
index 4d52cb2af8..89f8d89af7 100644
--- a/Rover/mode_dock.cpp
+++ b/Rover/mode_dock.cpp
@@ -171,6 +171,7 @@ void ModeDock::update()
     calc_steering_from_turn_rate(desired_turn_rate);
     calc_throttle(desired_speed, true);
 
+#if HAL_LOGGING_ENABLED
 // @LoggerMessage: DOCK
 // @Description: Dock mode target information
 // @Field: TimeUS: Time since system startup
@@ -196,6 +197,7 @@ void ModeDock::update()
             target_cm.y,
             desired_speed,
             desired_turn_rate);
+#endif
 }
 
 float ModeDock::apply_slowdown(float desired_speed)
diff --git a/Rover/system.cpp b/Rover/system.cpp
index 492463e8a2..07ff641549 100644
--- a/Rover/system.cpp
+++ b/Rover/system.cpp
@@ -54,7 +54,7 @@ void Rover::init_ardupilot()
     osd.init();
 #endif
 
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     log_init();
 #endif
 
@@ -179,7 +179,7 @@ void Rover::startup_ground(void)
     mode_auto.mission.init();
 
     // initialise AP_Logger library
-#if LOGGING_ENABLED == ENABLED
+#if HAL_LOGGING_ENABLED
     logger.setVehicle_Startup_Writer(
         FUNCTOR_BIND(&rover, &Rover::Log_Write_Vehicle_Startup_Messages, void)
         );
@@ -259,8 +259,8 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
     Mode &old_mode = *control_mode;
     if (!new_mode.enter()) {
         // Log error that we failed to enter desired flight mode
-        AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE,
-                                 LogErrorCode(new_mode.mode_number()));
+        LOGGER_WRITE_ERROR(LogErrorSubsystem::FLIGHT_MODE,
+                           LogErrorCode(new_mode.mode_number()));
         gcs().send_text(MAV_SEVERITY_WARNING, "Flight mode change failed");
         return false;
     }
@@ -281,7 +281,9 @@ bool Rover::set_mode(Mode &new_mode, ModeReason reason)
     old_mode.exit();
 
     control_mode_reason = reason;
+#if HAL_LOGGING_ENABLED
     logger.Write_Mode((uint8_t)control_mode->mode_number(), control_mode_reason);
+#endif
     gcs().send_message(MSG_HEARTBEAT);
 
     notify_mode(control_mode);
@@ -340,6 +342,7 @@ uint8_t Rover::check_digital_pin(uint8_t pin)
     return hal.gpio->read(pin);
 }
 
+#if HAL_LOGGING_ENABLED
 /*
   should we log a message type now?
  */
@@ -347,6 +350,7 @@ bool Rover::should_log(uint32_t mask)
 {
     return logger.should_log(mask);
 }
+#endif
 
 // returns true if vehicle is a boat
 // this affects whether the vehicle tries to maintain position after reaching waypoints