diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index ae1f4d09a1..d689ab8591 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -2147,6 +2147,7 @@ void NavEKF3_core::bestRotationOrder(rotationOrder &order)
 // and log with value generated by NavEKF3_core::calcTiltErrorVariance()
 void NavEKF3_core::verifyTiltErrorVariance()
 {
+#if HAL_LOGGING_ENABLED
     const Vector3f gravity_ef = Vector3f(0.0f,0.0f,1.0f);
     Matrix3f Tnb;
     const float quat_delta = 0.001f;
@@ -2186,6 +2187,7 @@ void NavEKF3_core::verifyTiltErrorVariance()
         };
         AP::logger().WriteBlock(&msg, sizeof(msg));
     }
+#endif  // HAL_LOGGING_ENABLED
 }
 #endif