diff --git a/AntennaTracker/Tracker.cpp b/AntennaTracker/Tracker.cpp
index 2465b7cbcf..c5a72a5c93 100644
--- a/AntennaTracker/Tracker.cpp
+++ b/AntennaTracker/Tracker.cpp
@@ -52,7 +52,6 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] = {
     SCHED_TASK(one_second_loop,         1,   3900),
     SCHED_TASK_CLASS(Compass,          &tracker.compass,              cal_update, 50, 100),
     SCHED_TASK(stats_update,            1,    200),
-    SCHED_TASK(accel_cal_update,       10,    100)
 };
 
 void Tracker::get_scheduler_tasks(const AP_Scheduler::Task *&tasks,
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 835081b433..5a31bf89b4 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -194,7 +194,6 @@ private:
     void update_ahrs();
     void compass_save();
     void update_compass(void);
-    void accel_cal_update(void);
     void update_GPS(void);
     void handle_battery_failsafe(const char* type_str, const int8_t action);
 
diff --git a/AntennaTracker/sensors.cpp b/AntennaTracker/sensors.cpp
index e20cab3d14..1a63346aa0 100644
--- a/AntennaTracker/sensors.cpp
+++ b/AntennaTracker/sensors.cpp
@@ -25,20 +25,6 @@ void Tracker::compass_save() {
     }
 }
 
-/*
-    Accel calibration
-*/
-void Tracker::accel_cal_update() {
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    float trim_roll, trim_pitch;
-    if (ins.get_new_trim(trim_roll, trim_pitch)) {
-        ahrs.set_trim(Vector3f(trim_roll, trim_pitch, 0));
-    }
-}
-
 /*
   read the GPS
  */