diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.cpp b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
index 761d237516..29a694ae08 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.cpp
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.cpp
@@ -126,9 +126,7 @@ void AP_ADC_ADS7844::read(uint32_t tnow)
 
 
 // Constructors ////////////////////////////////////////////////////////////////
-AP_ADC_ADS7844::AP_ADC_ADS7844() :
-			filter_result(false),
-			_filter_index_accel(0)
+AP_ADC_ADS7844::AP_ADC_ADS7844()
 {
 }
 
@@ -233,38 +231,6 @@ uint32_t AP_ADC_ADS7844::Ch6(const uint8_t *channel_numbers, float *result)
 		result[i] = (sum[i] + count[i]) / (float)count[i];
 	}
 
-
-	if(filter_result){
-		uint32_t _sum_accel;
-
-		// Accel filter
-		for (i = 0; i < 3; i++) {
-			// move most recent result into filter
-			_filter_accel[i][_filter_index_accel] = result[i+3];
-
-			// clear the sum
-			_sum_accel = 0;
-
-			// sum the filter
-			for (uint8_t n = 0; n < ADC_ACCEL_FILTER_SIZE; n++) {
-				_sum_accel += _filter_accel[i][n];
-			}
-
-			// filter does a moving average on last 8 reads, sums half with half of last filtered value
-			// save old result
-			_prev_accel[i] = result[i+3] = (_sum_accel >> 4) + (_prev_accel[i] >> 1);   // divide by 16, divide by 2
-
-		}
-
-		// increment filter index
-		_filter_index_accel++;
-
-		// loop our filter
-		if(_filter_index_accel == ADC_ACCEL_FILTER_SIZE)
-			_filter_index_accel = 0;
-	}
-
-
 	// return number of microseconds since last call
 	uint32_t us = micros();
 	uint32_t ret = us - last_ch6_micros;
diff --git a/libraries/AP_ADC/AP_ADC_ADS7844.h b/libraries/AP_ADC/AP_ADC_ADS7844.h
index 36f76f5770..c62004bee4 100644
--- a/libraries/AP_ADC/AP_ADC_ADS7844.h
+++ b/libraries/AP_ADC/AP_ADC_ADS7844.h
@@ -33,13 +33,7 @@ class AP_ADC_ADS7844 : public AP_ADC
     // check if Ch6 would block
 	bool new_data_available(const uint8_t *channel_numbers);
 
-	bool	filter_result;
-
 	private:
-	uint16_t 		_filter_accel[3][ADC_ACCEL_FILTER_SIZE];
-	uint16_t 		_prev_gyro[3];
-	uint16_t 		_prev_accel[3];
-	uint8_t			_filter_index_accel;
 	static void read(uint32_t);
 
 };