diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 55846e88f9..aac5c237fe 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1093,15 +1093,6 @@ void Rover::mavlink_delay_cb()
     logger.EnableWrites(true);
 }
 
-AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const
-{
-#if ADVANCED_FAILSAFE == ENABLED
-    return &rover.g2.afs;
-#else
-    return nullptr;
-#endif
-}
-
 bool GCS_MAVLINK_Rover::set_mode(const uint8_t mode)
 {
     Mode *new_mode = rover.mode_from_mode_num((enum Mode::Number)mode);
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 1c6d9a8402..b5131e8a65 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -12,8 +12,6 @@ protected:
 
     uint32_t telem_delay() const override;
 
-    AP_AdvancedFailsafe *get_advanced_failsafe() const override;
-
     uint8_t sysid_my_gcs() const override;
     bool sysid_enforce() const override;