diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 4bb18ad360..b6e7543ec0 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -712,6 +712,7 @@ void AP_Mount::set_attitude_euler(uint8_t instance, float roll_deg, float pitch_
     backend->set_attitude_euler(roll_deg, pitch_deg, yaw_bf_deg);
 }
 
+#if HAL_LOGGING_ENABLED
 // write mount log packet for all backends
 void AP_Mount::write_log()
 {
@@ -731,6 +732,7 @@ void AP_Mount::write_log(uint8_t instance, uint64_t timestamp_us)
     }
     backend->write_log(timestamp_us);
 }
+#endif
 
 // point at system ID sysid
 void AP_Mount::set_target_sysid(uint8_t instance, uint8_t sysid)
diff --git a/libraries/AP_Mount/AP_Mount_Backend.cpp b/libraries/AP_Mount/AP_Mount_Backend.cpp
index e9760c7ae0..28536134ad 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.cpp
+++ b/libraries/AP_Mount/AP_Mount_Backend.cpp
@@ -409,6 +409,7 @@ bool AP_Mount_Backend::handle_global_position_int(uint8_t msg_sysid, const mavli
     return true;
 }
 
+#if HAL_LOGGING_ENABLED
 // write mount log packet
 void AP_Mount_Backend::write_log(uint64_t timestamp_us)
 {
@@ -456,6 +457,7 @@ void AP_Mount_Backend::write_log(uint64_t timestamp_us)
     };
     AP::logger().WriteCriticalBlock(&pkt, sizeof(pkt));
 }
+#endif
 
 #if AP_MOUNT_POI_TO_LATLONALT_ENABLED
 // get poi information.  Returns true on success and fills in gimbal attitude, location and poi location
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 6dbf8cdbd3..b188f945a2 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -125,19 +125,26 @@ void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mav
     _gimbal.update_target(Vector3f{mnt_target.angle_rad.roll, mnt_target.angle_rad.pitch, mnt_target.angle_rad.get_bf_yaw()});
     _gimbal.receive_feedback(chan,msg);
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger == nullptr) {
         return;
     }
-
-    if(!_params_saved && logger->logging_started()) {
+#endif
+    if(!_params_saved
+#if HAL_LOGGING_ENABLED
+       && logger->logging_started()
+#endif
+        ) {
         _gimbal.fetch_params();       //last parameter save might not be stored in logger so retry
         _params_saved = true;
     }
 
+#if HAL_LOGGING_ENABLED
     if (_gimbal.get_log_dt() > 1.0f/25.0f) {
         _gimbal.write_logs();
     }
+#endif
 }
 
 void AP_Mount_SoloGimbal::handle_param_value(const mavlink_message_t &msg)
diff --git a/libraries/AP_Mount/SoloGimbal.cpp b/libraries/AP_Mount/SoloGimbal.cpp
index 01b8aec829..4503c02cec 100644
--- a/libraries/AP_Mount/SoloGimbal.cpp
+++ b/libraries/AP_Mount/SoloGimbal.cpp
@@ -400,6 +400,7 @@ void SoloGimbal::update_target(const Vector3f &newTarget)
     _att_target_euler_rad.x = constrain_float(_att_target_euler_rad.x,radians(-30),radians(30));
 }
 
+#if HAL_LOGGING_ENABLED
 void SoloGimbal::write_logs()
 {
     AP_Logger &logger = AP::logger();
@@ -481,6 +482,7 @@ void SoloGimbal::write_logs()
     _log_del_ang.zero();
     _log_del_vel.zero();
 }
+#endif
 
 bool SoloGimbal::joints_near_limits() const
 {
diff --git a/libraries/AP_Mount/SoloGimbal_Parameters.cpp b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
index 8245086ba3..60bf156acb 100644
--- a/libraries/AP_Mount/SoloGimbal_Parameters.cpp
+++ b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
@@ -187,10 +187,12 @@ void SoloGimbal_Parameters::handle_param_value(const mavlink_message_t &msg)
     mavlink_param_value_t packet;
     mavlink_msg_param_value_decode(&msg, &packet);
 
+#if HAL_LOGGING_ENABLED
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
         logger->Write_Parameter(packet.param_id, packet.param_value);
     }
+#endif
 
     for(uint8_t i=0; i<MAVLINK_GIMBAL_NUM_TRACKED_PARAMS; i++) {
         if (!strcmp(packet.param_id, get_param_name((gmb_param_t)i))) {
@@ -294,4 +296,4 @@ bool SoloGimbal_Parameters::flashing()
     return _flashing_step != GMB_PARAM_NOT_FLASHING;
 }
 
-#endif // HAL_SOLO_GIMBAL_ENABLED
\ No newline at end of file
+#endif // HAL_SOLO_GIMBAL_ENABLED