diff --git a/libraries/AP_Logger/AP_Logger_config.h b/libraries/AP_Logger/AP_Logger_config.h
index afbbc52e150aa..8627867a38047 100644
--- a/libraries/AP_Logger/AP_Logger_config.h
+++ b/libraries/AP_Logger/AP_Logger_config.h
@@ -2,6 +2,7 @@
 
 #include <AP_HAL/AP_HAL_Boards.h>
 #include <AP_Filesystem/AP_Filesystem_config.h>
+#include <GCS_MAVLink/GCS_config.h>
 
 #ifndef HAL_LOGGING_ENABLED
 #define HAL_LOGGING_ENABLED 1
@@ -17,7 +18,7 @@
 #endif
 
 #ifndef HAL_LOGGING_MAVLINK_ENABLED
-    #define HAL_LOGGING_MAVLINK_ENABLED HAL_LOGGING_BACKEND_DEFAULT_ENABLED
+    #define HAL_LOGGING_MAVLINK_ENABLED HAL_LOGGING_BACKEND_DEFAULT_ENABLED && HAL_GCS_ENABLED
 #endif
 
 #ifndef HAL_LOGGING_FILESYSTEM_ENABLED