diff --git a/APMrover2/APMrover2.pde b/APMrover2/APMrover2.pde
index 5f87a46286..dfb4fc183c 100644
--- a/APMrover2/APMrover2.pde
+++ b/APMrover2/APMrover2.pde
@@ -624,7 +624,7 @@ static void fast_loop()
 
 	// Read Sonar
 	// ----------
-	if (g.sonar_enabled) {
+	if (sonar.enabled()) {
 		float sonar_dist_cm = sonar.distance_cm();
         if (sonar_dist_cm <= g.sonar_trigger_cm)  {
             // obstacle detected in front 
diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index 9194345b80..423b080558 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -99,7 +99,7 @@ public:
         k_param_fs_gcs_enabled,
 
         // obstacle control
-        k_param_sonar_enabled = 190,
+        k_param_sonar_enabled = 190, // deprecated, can be removed
         k_param_sonar, // sonar object
         k_param_sonar_trigger_cm,
         k_param_sonar_turn_angle,
@@ -205,7 +205,6 @@ public:
 	AP_Int8	    fs_gcs_enabled;
 
     // obstacle control
-    AP_Int8	    sonar_enabled;
     AP_Int16    sonar_trigger_cm;
     AP_Float    sonar_turn_angle;
     AP_Float    sonar_turn_time;
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index 48227e756f..3115d552a8 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -256,13 +256,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
 	GSCALAR(fs_gcs_enabled, "FS_GCS_ENABLE",   0),
 
-	// @Param: SONAR_ENABLE
-	// @DisplayName: Enable Sonar
-	// @Description: Setting this to Enabled(1) will enable the sonar. Setting this to Disabled(0) will disable the sonar
-	// @Values: 0:Disabled,1:Enabled
-	// @User: Standard
-	GSCALAR(sonar_enabled,	    "SONAR_ENABLE",     SONAR_ENABLED),
-
 	// @Param: SONAR_TRIGGER_CM
 	// @DisplayName: Sonar trigger distance
 	// @Description: The distance from an obstacle at which the sonar triggers a turn to avoid the obstacle
diff --git a/APMrover2/test.pde b/APMrover2/test.pde
index f7109ef9b5..aaae094083 100644
--- a/APMrover2/test.pde
+++ b/APMrover2/test.pde
@@ -550,7 +550,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
 static int8_t
 test_sonar(uint8_t argc, const Menu::arg *argv)
 {
-    if (!g.sonar_enabled) {
+    if (!sonar.enabled()) {
         cliSerial->println_P(PSTR("WARNING: Sonar is not enabled"));
     }