diff --git a/libraries/AP_CANManager/AP_CANManager.cpp b/libraries/AP_CANManager/AP_CANManager.cpp
index a39d4d1f6b6e11..9efeb016546831 100644
--- a/libraries/AP_CANManager/AP_CANManager.cpp
+++ b/libraries/AP_CANManager/AP_CANManager.cpp
@@ -43,14 +43,6 @@
 #include <AP_Common/sorting.h>
 #include <AP_Logger/AP_Logger.h>
 
-/*
-  avoid a recursion issue with config defines
- */
-#if AP_CAN_LOGGING_ENABLED && !HAL_LOGGING_ENABLED
-#undef AP_CAN_LOGGING_ENABLED
-#define AP_CAN_LOGGING_ENABLED 0
-#endif
-
 #define LOG_TAG "CANMGR"
 #define LOG_BUFFER_SIZE 1024
 
diff --git a/libraries/AP_CANManager/AP_CANManager_config.h b/libraries/AP_CANManager/AP_CANManager_config.h
index 383abe0041dc9f..a33ff66888a0d1 100644
--- a/libraries/AP_CANManager/AP_CANManager_config.h
+++ b/libraries/AP_CANManager/AP_CANManager_config.h
@@ -1,12 +1,12 @@
 #pragma once
 
 #include <AP_HAL/AP_HAL_Boards.h>
+#include <AP_Logger/AP_Logger_config.h>
 
 #ifndef AP_CAN_SLCAN_ENABLED
 #define AP_CAN_SLCAN_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
 #endif
 
 #ifndef AP_CAN_LOGGING_ENABLED
-#define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS
+#define AP_CAN_LOGGING_ENABLED HAL_MAX_CAN_PROTOCOL_DRIVERS && HAL_LOGGING_ENABLED
 #endif
-