diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.cpp b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
index 7bca8ca7d1..ea28638a56 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.cpp
@@ -550,9 +550,11 @@ const AP_Param::GroupInfo AP_InertialSensor::var_info[] = {
 
     // index 37 was NOTCH_
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     // @Group: LOG_
     // @Path: ../AP_InertialSensor/BatchSampler.cpp
     AP_SUBGROUPINFO(batchsampler, "LOG_",  39, AP_InertialSensor, AP_InertialSensor::BatchSampler),
+#endif
 
     // @Param: ENABLE_MASK
     // @DisplayName: IMU enable mask
@@ -889,8 +891,10 @@ AP_InertialSensor::init(uint16_t loop_rate)
     _last_sample_usec = 0;
     _have_sample = false;
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     // initialise IMU batch logging
     batchsampler.init();
+#endif
 
 #if HAL_WITH_DSP
     AP_GyroFFT* fft = AP::fft();
@@ -1230,7 +1234,9 @@ AP_InertialSensor::detect_backends(void)
 // ins_periodic: 57500 events, 0 overruns, 208754us elapsed, 3us avg, min 1us max 218us 40.662us rms
 void AP_InertialSensor::periodic()
 {
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     batchsampler.periodic();
+#endif
 }
 
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 353c03f5e9..4c32f3c500 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -330,6 +330,7 @@ public:
         IMU_SENSOR_TYPE_GYRO = 1,
     };
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     class BatchSampler {
     public:
         BatchSampler(const AP_InertialSensor &imu) :
@@ -415,6 +416,7 @@ public:
         const AP_InertialSensor &_imu;
     };
     BatchSampler batchsampler{*this};
+#endif
 
 #if HAL_EXTERNAL_AHRS_ENABLED
     // handle external AHRS data
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
index e6b5d388eb..4fd5db99c8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
@@ -339,12 +339,17 @@ void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample(uint8_t instance,
     }
 
     // 5us
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_post_filter_logging()) {
         log_gyro_raw(instance, sample_us, gyro);
     }
     else {
         log_gyro_raw(instance, sample_us, _imu._gyro_filtered[instance]);
     }
+#else
+    // assume pre-filter logging if batchsampler is not enabled
+    log_gyro_raw(instance, sample_us, gyro);
+#endif
 }
 
 /*
@@ -431,12 +436,17 @@ void AP_InertialSensor_Backend::_notify_new_delta_angle(uint8_t instance, const
         _imu._new_gyro_data[instance] = true;
     }
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_post_filter_logging()) {
         log_gyro_raw(instance, sample_us, gyro);
     }
     else {
         log_gyro_raw(instance, sample_us, _imu._gyro_filtered[instance]);
     }
+#else
+    // assume we're doing pre-filter logging:
+    log_gyro_raw(instance, sample_us, gyro);
+#endif
 }
 
 void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &gyro)
@@ -450,9 +460,11 @@ void AP_InertialSensor_Backend::log_gyro_raw(uint8_t instance, const uint64_t sa
     if (should_log_imu_raw()) {
         Write_GYR(instance, sample_us, gyro);
     } else {
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
         if (!_imu.batchsampler.doing_sensor_rate_logging()) {
             _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, sample_us, gyro);
         }
+#endif
     }
 #endif
 }
@@ -558,11 +570,16 @@ void AP_InertialSensor_Backend::_notify_new_accel_raw_sample(uint8_t instance,
     }
 
     // 5us
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_post_filter_logging()) {
         log_accel_raw(instance, sample_us, accel);
     } else {
         log_accel_raw(instance, sample_us, _imu._accel_filtered[instance]);
     }
+#else
+    // assume we're doing pre-filter logging:
+    log_accel_raw(instance, sample_us, accel);
+#endif
 }
 
 /*
@@ -630,29 +647,38 @@ void AP_InertialSensor_Backend::_notify_new_delta_velocity(uint8_t instance, con
         _imu._new_accel_data[instance] = true;
     }
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_post_filter_logging()) {
         log_accel_raw(instance, sample_us, accel);
     } else {
         log_accel_raw(instance, sample_us, _imu._accel_filtered[instance]);
     }
+#else
+    // assume we're doing pre-filter logging
+    log_accel_raw(instance, sample_us, accel);
+#endif
 }
 
 
 void AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample(uint8_t instance, const Vector3f &accel)
 {
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_sensor_rate_logging()) {
         return;
     }
 
     _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, AP_HAL::micros64(), accel);
+#endif
 }
 
 void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(uint8_t instance, const Vector3f &gyro)
 {
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
     if (!_imu.batchsampler.doing_sensor_rate_logging()) {
         return;
     }
     _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_GYRO, AP_HAL::micros64(), gyro);
+#endif
 }
 
 void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t sample_us, const Vector3f &accel)
@@ -666,9 +692,11 @@ void AP_InertialSensor_Backend::log_accel_raw(uint8_t instance, const uint64_t s
     if (should_log_imu_raw()) {
         Write_ACC(instance, sample_us, accel);
     } else {
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
         if (!_imu.batchsampler.doing_sensor_rate_logging()) {
             _imu.batchsampler.sample(instance, AP_InertialSensor::IMU_SENSOR_TYPE_ACCEL, sample_us, accel);
         }
+#endif
     }
 #endif
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
index 2e2356cb3f..48f7c41050 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Logging.cpp
@@ -95,6 +95,7 @@ void AP_InertialSensor::Write_Vibration() const
     }
 }
 
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
 // Write information about a series of IMU readings to log:
 bool AP_InertialSensor::BatchSampler::Write_ISBH(const float sample_rate_hz) const
 {
@@ -133,6 +134,7 @@ bool AP_InertialSensor::BatchSampler::Write_ISBD() const
 
     return AP::logger().WriteBlock_first_succeed(&pkt, sizeof(pkt));
 }
+#endif
 
 // @LoggerMessage: FTN
 // @Description: Filter Tuning Message - per motor
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_config.h b/libraries/AP_InertialSensor/AP_InertialSensor_config.h
index 3d73092e8c..004c14a32e 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_config.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_config.h
@@ -1,7 +1,12 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #ifndef AP_INERTIALSENSOR_ENABLED
 #define AP_INERTIALSENSOR_ENABLED 1
 #endif
+
+#ifndef AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
+#define AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED (AP_INERTIALSENSOR_ENABLED && HAL_LOGGING_ENABLED)
+#endif
diff --git a/libraries/AP_InertialSensor/BatchSampler.cpp b/libraries/AP_InertialSensor/BatchSampler.cpp
index a0d8e786b5..a125f1a286 100644
--- a/libraries/AP_InertialSensor/BatchSampler.cpp
+++ b/libraries/AP_InertialSensor/BatchSampler.cpp
@@ -1,6 +1,6 @@
 #include "AP_InertialSensor.h"
 
-#if AP_INERTIALSENSOR_ENABLED
+#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -282,4 +282,4 @@ void AP_InertialSensor::BatchSampler::sample(uint8_t _instance, AP_InertialSenso
     data_write_offset++; // may unblock the reading process
 #endif
 }
-#endif //#if AP_INERTIALSENSOR_ENABLED
+#endif //#if AP_INERTIALSENSOR_BATCHSAMPLER_ENABLED