diff --git a/libraries/AC_WPNav/AC_WPNav.cpp b/libraries/AC_WPNav/AC_WPNav.cpp
index f62d66d3b9..cb453d26e7 100644
--- a/libraries/AC_WPNav/AC_WPNav.cpp
+++ b/libraries/AC_WPNav/AC_WPNav.cpp
@@ -115,7 +115,6 @@ AC_WPNav::AC_WPNav(const AP_InertialNav& inav, const AP_AHRS& ahrs, AC_PosContro
     _ahrs(ahrs),
     _pos_control(pos_control),
     _attitude_control(attitude_control),
-    _loiter_step(0),
     _pilot_accel_fwd_cms(0),
     _pilot_accel_rgt_cms(0),
     _loiter_ekf_pos_reset_ms(0),
diff --git a/libraries/AC_WPNav/AC_WPNav.h b/libraries/AC_WPNav/AC_WPNav.h
index 3059f0e185..cb683b9af6 100644
--- a/libraries/AC_WPNav/AC_WPNav.h
+++ b/libraries/AC_WPNav/AC_WPNav.h
@@ -329,7 +329,6 @@ protected:
     AP_Float    _wp_accel_z_cms;        // vertical acceleration in cm/s/s during missions
 
     // loiter controller internal variables
-    uint8_t     _loiter_step;           // used to decide which portion of loiter controller to run during this iteration
     int16_t     _pilot_accel_fwd_cms; 	// pilot's desired acceleration forward (body-frame)
     int16_t     _pilot_accel_rgt_cms;   // pilot's desired acceleration right (body-frame)
     Vector2f    _loiter_desired_accel;  // slewed pilot's desired acceleration in lat/lon frame