diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 15e57890f8..34a869d93b 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -74,21 +74,6 @@ MAV_STATE GCS_MAVLINK_Tracker::system_status() const
     return MAV_STATE_ACTIVE;
 }
 
-void Tracker::send_attitude(mavlink_channel_t chan)
-{
-    Vector3f omega = ahrs.get_gyro();
-    mavlink_msg_attitude_send(
-        chan,
-        AP_HAL::millis(),
-        ahrs.roll,
-        ahrs.pitch,
-        ahrs.yaw,
-        omega.x,
-        omega.y,
-        omega.z);
-}
-
-
 void Tracker::send_extended_status1(mavlink_channel_t chan)
 {
     int16_t battery_current = -1;
@@ -176,11 +161,6 @@ bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
 {
     switch (id) {
 
-    case MSG_ATTITUDE:
-        CHECK_PAYLOAD_SIZE(ATTITUDE);
-        tracker.send_attitude(chan);
-        break;
-
     case MSG_LOCATION:
         CHECK_PAYLOAD_SIZE(GLOBAL_POSITION_INT);
         tracker.send_location(chan);
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 14e6f52f92..ebe76161cf 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -199,7 +199,6 @@ private:
 
     void one_second_loop();
     void ten_hz_logging_loop();
-    void send_attitude(mavlink_channel_t chan);
     void send_extended_status1(mavlink_channel_t chan);
     void send_location(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);