diff --git a/ArduCopter/commands_logic.pde b/ArduCopter/commands_logic.pde
index 2bea8eff85..21c9251e50 100644
--- a/ArduCopter/commands_logic.pde
+++ b/ArduCopter/commands_logic.pde
@@ -693,28 +693,6 @@ static void do_change_speed()
     g.waypoint_speed_max = command_cond_queue.p1 * 100;
 }
 
-// do_target_yaw - initialise yaw mode based on requested yaw target
-static void do_target_yaw()
-{
-    switch( command_cond_queue.p1 ) {
-        case MAV_ROI_NONE:
-            set_yaw_mode(YAW_HOLD);
-            break;
-        case MAV_ROI_WPNEXT:
-            set_yaw_mode(YAW_LOOK_AT_NEXT_WP);
-            break;
-        case MAV_ROI_LOCATION:
-            yaw_look_at_WP = command_cond_queue;
-            set_yaw_mode(YAW_LOOK_AT_LOCATION);
-            break;
-    }
-}
-
-static void do_loiter_at_location()
-{
-    next_WP = current_loc;
-}
-
 static void do_jump()
 {
     // Used to track the state of the jump command in Mission scripting
diff --git a/ArduCopter/navigation.pde b/ArduCopter/navigation.pde
index 98e32ca83e..a28c0d23f5 100644
--- a/ArduCopter/navigation.pde
+++ b/ArduCopter/navigation.pde
@@ -533,25 +533,6 @@ static void update_crosstrack(void)
     }
 }
 
-static int32_t get_altitude_error()
-{
-    // Next_WP alt is our target alt
-    // It changes based on climb rate
-    // until it reaches the target_altitude
-
-#if INERTIAL_NAV_Z == ENABLED
-    // use inertial nav for altitude error
-    return next_WP.alt - inertial_nav.get_altitude();
-#else
-    return next_WP.alt - current_loc.alt;
-#endif
-}
-
-static void clear_new_altitude()
-{
-    set_alt_change(REACHED_ALT);
-}
-
 static void force_new_altitude(int32_t new_alt)
 {
     next_WP.alt     = new_alt;