diff --git a/libraries/AP_Motors/AP_MotorsHeli.h b/libraries/AP_Motors/AP_MotorsHeli.h
index e7f5c20afe..c3c5cfc0c1 100644
--- a/libraries/AP_Motors/AP_MotorsHeli.h
+++ b/libraries/AP_Motors/AP_MotorsHeli.h
@@ -75,9 +75,6 @@ public:
     // set_collective_for_landing - limits collective from going too low if we know we are landed
     void set_collective_for_landing(bool landing) { _heliflags.landing_collective = landing; }
 
-    // set_inverted_flight - enables/disables inverted flight
-    void set_inverted_flight(bool inverted) { _heliflags.inverted_flight = inverted; }
-
     // get_rsc_mode - gets the current rotor speed control method
     uint8_t get_rsc_mode() const { return _main_rotor.get_control_mode(); }
 
@@ -247,7 +244,6 @@ protected:
     struct heliflags_type {
         uint8_t landing_collective      : 1;    // true if collective is setup for landing which has much higher minimum
         uint8_t rotor_runup_complete    : 1;    // true if the rotors have had enough time to wind up
-        uint8_t inverted_flight         : 1;    // true for inverted flight
         uint8_t init_targets_on_arming  : 1;    // 0 if targets were initialized, 1 if targets were not initialized after arming
         uint8_t save_rsc_mode           : 1;    // used to determine the rsc mode needs to be saved while disarmed
         uint8_t in_autorotation         : 1;    // true if aircraft is in autorotation
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
index ddbcedc896..2849b3c85c 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Dual.cpp
@@ -415,10 +415,6 @@ void AP_MotorsHeli_Dual::move_actuators(float roll_out, float pitch_out, float c
         }
     }
 
-    if (_heliflags.inverted_flight) {
-        collective_in = 1 - collective_in;
-    }
-
     // constrain collective input
     float collective_out = collective_in;
     if (collective_out <= 0.0f) {
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
index 515ec063e0..da956f2dbf 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Quad.cpp
@@ -207,10 +207,6 @@ void AP_MotorsHeli_Quad::move_actuators(float roll_out, float pitch_out, float c
 
     float collective_range = (_collective_max - _collective_min) * 0.001f;
 
-    if (_heliflags.inverted_flight) {
-        collective_out = 1.0f - collective_out;
-    }
-
     // feed power estimate into main rotor controller
     _main_rotor.set_collective(fabsf(collective_out));
 
diff --git a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
index 1c73e10f50..65213c60bf 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_Single.cpp
@@ -382,10 +382,6 @@ void AP_MotorsHeli_Single::move_actuators(float roll_out, float pitch_out, float
     limit.throttle_lower = false;
     limit.throttle_upper = false;
 
-    if (_heliflags.inverted_flight) {
-        coll_in = 1 - coll_in;
-    }
-
     // rescale roll_out and pitch_out into the min and max ranges to provide linear motion
     // across the input range instead of stopping when the input hits the constrain value
     // these calculations are based on an assumption of the user specified cyclic_max