diff --git a/libraries/AP_DAL/AP_DAL_Airspeed.cpp b/libraries/AP_DAL/AP_DAL_Airspeed.cpp
index 15444ffbd9..9a276c8c7f 100644
--- a/libraries/AP_DAL/AP_DAL_Airspeed.cpp
+++ b/libraries/AP_DAL/AP_DAL_Airspeed.cpp
@@ -26,7 +26,6 @@ void AP_DAL_Airspeed::start_frame()
         log_RASI &RASI = _RASI[i];
         log_RASI old_RASI = RASI;
         const uint32_t last_update_ms = airspeed->last_update_ms(i);
-        _last_logged_update_ms[i] = last_update_ms;
         RASI.last_update_ms = last_update_ms;
         RASI.healthy = airspeed->healthy(i);
         RASI.use = airspeed->use(i);
diff --git a/libraries/AP_DAL/AP_DAL_Airspeed.h b/libraries/AP_DAL/AP_DAL_Airspeed.h
index 8436255543..e4f535812f 100644
--- a/libraries/AP_DAL/AP_DAL_Airspeed.h
+++ b/libraries/AP_DAL/AP_DAL_Airspeed.h
@@ -60,6 +60,4 @@ private:
 
     struct log_RASH _RASH;
     struct log_RASI _RASI[AIRSPEED_MAX_SENSORS];
-
-    uint32_t _last_logged_update_ms[AIRSPEED_MAX_SENSORS];
 };
diff --git a/libraries/AP_DAL/AP_DAL_Baro.cpp b/libraries/AP_DAL/AP_DAL_Baro.cpp
index 6211edb6ac..f779d4c0cc 100644
--- a/libraries/AP_DAL/AP_DAL_Baro.cpp
+++ b/libraries/AP_DAL/AP_DAL_Baro.cpp
@@ -23,7 +23,6 @@ void AP_DAL_Baro::start_frame()
         log_RBRI &RBRI = _RBRI[i];
         log_RBRI old = RBRI;
         const uint32_t last_update_ms = baro.get_last_update(i);
-        _last_logged_update_ms[i] = last_update_ms;
         RBRI.last_update_ms = last_update_ms;
         RBRI.healthy = baro.healthy(i);
         RBRI.altitude = baro.get_altitude(i);
diff --git a/libraries/AP_DAL/AP_DAL_Baro.h b/libraries/AP_DAL/AP_DAL_Baro.h
index 25c4fcff82..e04d990d28 100644
--- a/libraries/AP_DAL/AP_DAL_Baro.h
+++ b/libraries/AP_DAL/AP_DAL_Baro.h
@@ -53,7 +53,5 @@ private:
 
     struct log_RBRH _RBRH;
     struct log_RBRI _RBRI[BARO_MAX_INSTANCES];
-
-    uint32_t _last_logged_update_ms[BARO_MAX_INSTANCES];
 };
 
diff --git a/libraries/AP_DAL/AP_DAL_Beacon.cpp b/libraries/AP_DAL/AP_DAL_Beacon.cpp
index 373dd732b5..c5314816e1 100644
--- a/libraries/AP_DAL/AP_DAL_Beacon.cpp
+++ b/libraries/AP_DAL/AP_DAL_Beacon.cpp
@@ -22,10 +22,11 @@ void AP_DAL_Beacon::start_frame()
         _RBCH.count = bcon->count();
         _RBCH.get_vehicle_position_ned_returncode = bcon->get_vehicle_position_ned(_RBCH.vehicle_position_ned, _RBCH.accuracy_estimate);
 
-        _RBCH.get_origin_returncode = bcon->get_origin(_origin);
-        _RBCH.origin_lat = _origin.lat;
-        _RBCH.origin_lng = _origin.lng;
-        _RBCH.origin_alt = _origin.alt;
+        Location loc;
+        _RBCH.get_origin_returncode = bcon->get_origin(loc);
+        _RBCH.origin_lat = loc.lat;
+        _RBCH.origin_lng = loc.lng;
+        _RBCH.origin_alt = loc.alt;
     }
     WRITE_REPLAY_BLOCK_IFCHANGD(RBCH, _RBCH, old);
     if (bcon == nullptr) {
@@ -36,7 +37,6 @@ void AP_DAL_Beacon::start_frame()
         log_RBCI &RBCI = _RBCI[i];
         const log_RBCI old_RBCI = RBCI;
         const uint32_t last_update_ms = bcon->beacon_last_update_ms(i);
-        _last_logged_update_ms[i] = last_update_ms;
         RBCI.last_update_ms = last_update_ms;
         RBCI.position = bcon->beacon_position(i);
         RBCI.distance = bcon->beacon_distance(i);
diff --git a/libraries/AP_DAL/AP_DAL_Beacon.h b/libraries/AP_DAL/AP_DAL_Beacon.h
index 95de2741b2..4a9f1d0ab5 100644
--- a/libraries/AP_DAL/AP_DAL_Beacon.h
+++ b/libraries/AP_DAL/AP_DAL_Beacon.h
@@ -15,7 +15,10 @@ public:
     }
 
     bool get_origin(Location &loc) const {
-        loc = _origin;
+        loc.zero();
+        loc.lat = _RBCH.origin_lat;
+        loc.lng = _RBCH.origin_lng;
+        loc.alt = _RBCH.origin_alt;
         return _RBCH.get_origin_returncode;
     }
 
@@ -61,9 +64,6 @@ public:
 #if APM_BUILD_TYPE(APM_BUILD_Replay)
     void handle_message(const log_RBCH &msg) {
         _RBCH = msg;
-        _origin.lat = _RBCH.origin_lat;
-        _origin.lng = _RBCH.origin_lng;
-        _origin.alt = _RBCH.origin_alt;
    }
     void handle_message(const log_RBCI &msg) {
         _RBCI[msg.instance] = msg;
@@ -74,8 +74,4 @@ private:
 
     struct log_RBCH _RBCH;
     struct log_RBCI _RBCI[AP_BEACON_MAX_BEACONS];
-
-    uint32_t _last_logged_update_ms[AP_BEACON_MAX_BEACONS];
-
-    Location _origin;
 };