diff --git a/libraries/AP_GyroFFT/AP_GyroFFT.cpp b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
index 886baa3749..5a1c0e7966 100644
--- a/libraries/AP_GyroFFT/AP_GyroFFT.cpp
+++ b/libraries/AP_GyroFFT/AP_GyroFFT.cpp
@@ -473,7 +473,7 @@ uint16_t AP_GyroFFT::run_cycle()
     _thread_state._last_output_us[_update_axis] = AP_HAL::micros();
     _output_cycle_micros = _thread_state._last_output_us[_update_axis] - now;
 
-#if AP_SIM_ENABLED
+#if AP_SIM_ENABLED && HAL_LOGGING_ENABLED
     // extra logging when running simulations
     AP::logger().WriteStreaming(
         "FTN3",
@@ -966,6 +966,8 @@ float AP_GyroFFT::calculate_weighted_freq_hz(const Vector3f& energy, const Vecto
 // @Field: FHZ: FFT health, Z-axis
 // @Field: Tc: FFT cycle time
 
+#if HAL_LOGGING_ENABLED
+
 // log gyro fft messages
 void AP_GyroFFT::write_log_messages()
 {
@@ -1048,6 +1050,8 @@ void AP_GyroFFT::log_noise_peak(uint8_t id, FrequencyPeak peak) const
         get_center_freq_energy(peak).z);
 }
 
+#endif
+
 // return an average noise bandwidth weighted by bin energy
 // called from main thread
 float AP_GyroFFT::get_weighted_noise_center_bandwidth_hz() const