diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index e7b03f61bc..dd227d7819 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -1,5 +1,4 @@
 #include <AP_HAL/AP_HAL.h>
-#include <AP_Math/definitions.h>
 #include "AC_WPNav.h"
 
 extern const AP_HAL::HAL& hal;
@@ -1273,17 +1272,6 @@ bool AC_WPNav::get_vector_NEU(const Location_Class &loc, Vector3f &vec, bool &te
 /// shared methods
 ///
 
-// get_bearing_cd - return bearing in centi-degrees between two positions
-// To-Do: move this to math library
-float AC_WPNav::get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const
-{
-    float bearing = 9000 + atan2f(-(destination.x-origin.x), destination.y-origin.y) * DEGX100;
-    if (bearing < 0) {
-        bearing += 36000;
-    }
-    return bearing;
-}
-
 /// calc_slow_down_distance - calculates distance before waypoint that target point should begin to slow-down assuming it is travelling at full speed
 void AC_WPNav::calc_slow_down_distance(float speed_cms, float accel_cmss)
 {
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index e8abe42c7f..d72c765721 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -197,9 +197,6 @@ public:
     /// calculate_wp_leash_length - calculates track speed, acceleration and leash lengths for waypoint controller
     void calculate_wp_leash_length();
 
-    /// get_bearing_cd - return bearing in centi-degrees between two positions
-    float get_bearing_cd(const Vector3f &origin, const Vector3f &destination) const;
-
     ///
     /// spline methods
     ///