diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
index 5682d5000c..61896831fb 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow.cpp
@@ -270,9 +270,12 @@ void AP_OpticalFlow::update_state(const OpticalFlow_state &state)
                                 _last_update_ms,
                                 get_pos_offset(),
                                 get_height_override());
+#if HAL_LOGGING_ENABLED
     Log_Write_Optflow();
+#endif
 }
 
+#if HAL_LOGGING_ENABLED
 void AP_OpticalFlow::Log_Write_Optflow()
 {
     AP_Logger *logger = AP_Logger::get_singleton();
@@ -295,7 +298,7 @@ void AP_OpticalFlow::Log_Write_Optflow()
     };
     logger->WriteBlock(&pkt, sizeof(pkt));
 }
-
+#endif  // HAL_LOGGING_ENABLED
 
 
 // singleton instance
diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
index d92e12e9a0..84de1759d6 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_Calibrator.cpp
@@ -141,7 +141,9 @@ void AP_OpticalFlow_Calibrator::add_sample(uint32_t timestamp_ms, const Vector2f
     // check enough roll or pitch movement and record sample
     const bool rates_x_sufficient = (fabsf(body_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.x) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS);
     if (rates_x_sufficient && (_cal_data[0].num_samples < ARRAY_SIZE(_cal_data[0].samples))) {
+# if HAL_LOGGING_ENABLED
         log_sample(0, _cal_data[0].num_samples, flow_rate.x, body_rate.x, los_pred.x);
+#endif
         _cal_data[0].samples[_cal_data[0].num_samples].flow_rate = flow_rate.x;
         _cal_data[0].samples[_cal_data[0].num_samples].body_rate = body_rate.x;
         _cal_data[0].samples[_cal_data[0].num_samples].los_pred = los_pred.x;
@@ -149,7 +151,9 @@ void AP_OpticalFlow_Calibrator::add_sample(uint32_t timestamp_ms, const Vector2f
     }
     const bool rates_y_sufficient = (fabsf(body_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS) && (fabsf(flow_rate.y) >= AP_OPTICALFLOW_CAL_ROLLPITCH_MIN_RADS);
     if (rates_y_sufficient && (_cal_data[1].num_samples < ARRAY_SIZE(_cal_data[1].samples))) {
+# if HAL_LOGGING_ENABLED
         log_sample(1, _cal_data[1].num_samples, flow_rate.y, body_rate.y, los_pred.y);
+#endif
         _cal_data[1].samples[_cal_data[1].num_samples].flow_rate = flow_rate.y;
         _cal_data[1].samples[_cal_data[1].num_samples].body_rate = body_rate.y;
         _cal_data[1].samples[_cal_data[1].num_samples].los_pred = los_pred.y;
@@ -298,6 +302,7 @@ float AP_OpticalFlow_Calibrator::calc_mean_squared_residuals(uint8_t axis, float
     return sum;
 }
 
+#if HAL_LOGGING_ENABLED
 // log all samples
 void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, float flow_rate, float body_rate, float los_pred)
 {
@@ -323,3 +328,4 @@ void AP_OpticalFlow_Calibrator::log_sample(uint8_t axis, uint8_t sample_num, flo
         (double)body_rate,
         (double)los_pred);
 }
+#endif  // HAL_LOGGING_ENABLED