diff --git a/ArduSub/config.h b/ArduSub/config.h
index b84e3bc359..dc50f33d20 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -151,19 +151,6 @@
 # define FS_BATT_MAH_DEFAULT             0         // default battery capacity (in mah) below which failsafe will be triggered
 #endif
 
-#ifndef BOARD_VOLTAGE_MIN
-# define BOARD_VOLTAGE_MIN             4.3f        // min board voltage in volts for pre-arm checks
-#endif
-
-#ifndef BOARD_VOLTAGE_MAX
-# define BOARD_VOLTAGE_MAX             5.8f        // max board voltage in volts for pre-arm checks
-#endif
-
-// prearm GPS hdop check
-#ifndef GPS_HDOP_GOOD_DEFAULT
-# define GPS_HDOP_GOOD_DEFAULT         140     // minimum hdop that represents a good position.  used during pre-arm checks if fence is enabled
-#endif
-
 // GCS failsafe
 #ifndef FS_GCS
 # define FS_GCS                        DISABLED
@@ -172,40 +159,11 @@
 # define FS_GCS_TIMEOUT_MS             2500    // gcs failsafe triggers after 5 seconds with no GCS heartbeat
 #endif
 
-// Radio failsafe while using RC_override
-#ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
-# define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS  1000    // RC Radio failsafe triggers after 1 second while using RC_override from ground station
-#endif
-
-// Radio failsafe
-#ifndef FS_RADIO_TIMEOUT_MS
-#define FS_RADIO_TIMEOUT_MS            500     // RC Radio Failsafe triggers after 500 miliseconds with No RC Input
-#endif
-
 // missing terrain data failsafe
 #ifndef FS_TERRAIN_TIMEOUT_MS
 #define FS_TERRAIN_TIMEOUT_MS          1000     // 1 second of unhealthy rangefinder and/or missing terrain data will trigger failsafe
 #endif
 
-#ifndef PREARM_DISPLAY_PERIOD
-# define PREARM_DISPLAY_PERIOD 30
-#endif
-
-// pre-arm baro vs inertial nav max alt disparity
-#ifndef PREARM_MAX_ALT_DISPARITY_CM
-# define PREARM_MAX_ALT_DISPARITY_CM       100     // barometer and inertial nav altitude must be within this many centimeters
-#endif
-
-// arming check's maximum acceptable accelerometer vector difference (in m/s/s) between primary and backup accelerometers
-#ifndef PREARM_MAX_ACCEL_VECTOR_DIFF
-#define PREARM_MAX_ACCEL_VECTOR_DIFF      0.70f    // pre arm accel check will fail if primary and backup accelerometer vectors differ by 0.7m/s/s
-#endif
-
-// arming check's maximum acceptable rotation rate difference (in rad/sec) between primary and backup gyros
-#ifndef PREARM_MAX_GYRO_VECTOR_DIFF
-#define PREARM_MAX_GYRO_VECTOR_DIFF       0.0873f  // pre arm gyro check will fail if primary and backup gyro vectors differ by 0.0873 rad/sec (=5deg/sec)
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //  EKF Failsafe
 #ifndef FS_EKF_ACTION_DEFAULT
@@ -225,22 +183,6 @@
 # define MAGNETOMETER                   ENABLED
 #endif
 
-// expected magnetic field strength.  pre-arm checks will fail if 50% higher or lower than this value
-#ifndef COMPASS_MAGFIELD_EXPECTED
-#define COMPASS_MAGFIELD_EXPECTED      530        // pre arm will fail if mag field > 874 or < 185
-#endif
-
-// max compass offset length (i.e. sqrt(offs_x^2+offs_y^2+offs_Z^2))
-#ifndef CONFIG_ARCH_BOARD_PX4FMU_V1
-#ifndef COMPASS_OFFSETS_MAX
-# define COMPASS_OFFSETS_MAX          600         // PX4 onboard compass has high offsets
-#endif
-#else   // SITL, etc
-#ifndef COMPASS_OFFSETS_MAX
-# define COMPASS_OFFSETS_MAX          500
-#endif
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 //  OPTICAL_FLOW
 #ifndef OPTFLOW
@@ -288,14 +230,6 @@
 # define FLIGHT_MODE_6                  STABILIZE
 #endif
 
-
-//////////////////////////////////////////////////////////////////////////////
-// Throttle Failsafe
-//
-#ifndef FS_THR_VALUE_DEFAULT
-# define FS_THR_VALUE_DEFAULT             975
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // CAMERA TRIGGER AND CONTROL
 //
@@ -340,39 +274,6 @@
 #define ACRO_EXPO_DEFAULT          0.3f
 #endif
 
-// RTL Mode
-#ifndef RTL_ALT_FINAL
-# define RTL_ALT_FINAL             0       // the altitude the vehicle will move to as the final stage of Returning to Launch.
-#endif
-
-#ifndef RTL_ALT
-# define RTL_ALT                    1500    // default alt to return to home in cm, 0 = Maintain current altitude
-#endif
-
-#ifndef RTL_ALT_MIN
-# define RTL_ALT_MIN               200     // min height above ground for RTL (i.e 2m)
-#endif
-
-#ifndef RTL_CLIMB_MIN_DEFAULT
-# define RTL_CLIMB_MIN_DEFAULT     0       // vehicle will always climb this many cm as first stage of RTL
-#endif
-
-#ifndef RTL_ABS_MIN_CLIMB
-# define RTL_ABS_MIN_CLIMB         250     // absolute minimum initial climb
-#endif
-
-#ifndef RTL_CONE_SLOPE_DEFAULT
-# define RTL_CONE_SLOPE_DEFAULT    3.0f    // slope of RTL cone (height / distance). 0 = No cone
-#endif
-
-#ifndef RTL_MIN_CONE_SLOPE
-# define RTL_MIN_CONE_SLOPE        0.5f    // minimum slope of cone
-#endif
-
-#ifndef RTL_LOITER_TIME
-# define RTL_LOITER_TIME           5000    // Time (in milliseconds) to loiter above home before begining final descent
-#endif
-
 // AUTO Mode
 #ifndef WP_YAW_BEHAVIOR_DEFAULT
 # define WP_YAW_BEHAVIOR_DEFAULT   WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP_EXCEPT_RTL
@@ -386,11 +287,6 @@
 # define YAW_LOOK_AHEAD_MIN_SPEED  100             // minimum ground speed in cm/s required before vehicle is aimed at ground course
 #endif
 
-// Super Simple mode
-#ifndef SUPER_SIMPLE_RADIUS
-# define SUPER_SIMPLE_RADIUS       1000
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Stabilize Rate Control
 //
@@ -400,9 +296,6 @@
 #ifndef DEFAULT_ANGLE_MAX
 # define DEFAULT_ANGLE_MAX         4500            // ANGLE_MAX parameters default value
 #endif
-#ifndef ANGLE_RATE_MAX
-# define ANGLE_RATE_MAX            18000           // default maximum rotation rate in roll/pitch axis requested by angle controller used in stabilize, loiter, rtl, auto flight modes
-#endif
 
 //////////////////////////////////////////////////////////////////////////////
 // Loiter position control gains
@@ -411,16 +304,6 @@
 # define POS_XY_P               1.0f
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// Stop mode defaults
-//
-#ifndef BRAKE_MODE_SPEED_Z
-# define BRAKE_MODE_SPEED_Z     250 // z-axis speed in cm/s in Brake Mode
-#endif
-#ifndef BRAKE_MODE_DECEL_RATE
-# define BRAKE_MODE_DECEL_RATE  750 // acceleration rate in cm/s/s in Brake Mode
-#endif
-
 //////////////////////////////////////////////////////////////////////////////
 // Velocity (horizontal) gains
 //
@@ -486,15 +369,6 @@
 # define PILOT_ACCEL_Z_DEFAULT 100 // vertical acceleration in cm/s/s while altitude is under pilot control
 #endif
 
-// max distance in cm above or below current location that will be used for the alt target when transitioning to alt-hold mode
-#ifndef ALT_HOLD_INIT_MAX_OVERSHOOT
-# define ALT_HOLD_INIT_MAX_OVERSHOOT 200
-#endif
-// the acceleration used to define the distance-velocity curve
-#ifndef ALT_HOLD_ACCEL_MAX
-# define ALT_HOLD_ACCEL_MAX 250    // if you change this you must also update the duplicate declaration in AC_WPNav.h
-#endif
-
 #ifndef AUTO_DISARMING_DELAY
 # define AUTO_DISARMING_DELAY  0
 #endif