diff --git a/libraries/SITL/SIM_BalanceBot.cpp b/libraries/SITL/SIM_BalanceBot.cpp
index 5884489696..56c510b930 100644
--- a/libraries/SITL/SIM_BalanceBot.cpp
+++ b/libraries/SITL/SIM_BalanceBot.cpp
@@ -26,9 +26,7 @@ namespace SITL {
 BalanceBot::BalanceBot(const char *home_str, const char *frame_str) :
     Aircraft(home_str, frame_str),
     max_speed(4),
-    max_accel(14),
-    skid_turn_rate(140), // degrees/sec
-    skid_steering(true)
+    skid_turn_rate(140) // degrees/sec
 {
     dcm.from_euler(0,0,0); // initial yaw, pitch and roll in radians
     printf("Balance Bot Simulation Started\n");
diff --git a/libraries/SITL/SIM_BalanceBot.h b/libraries/SITL/SIM_BalanceBot.h
index fed9c9d93d..745f54c0a3 100644
--- a/libraries/SITL/SIM_BalanceBot.h
+++ b/libraries/SITL/SIM_BalanceBot.h
@@ -39,9 +39,7 @@ private:
     float velocity_vf_x;
 
     float max_speed;
-    float max_accel;
     float skid_turn_rate;
-    bool skid_steering;
 
     float calc_yaw_rate(float steering);
 };