diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 724e913015..3bedca3890 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -313,10 +313,12 @@ AP_Mount::calc_GPS_target_angle(struct Location *target)
 	_roll_control_angle   = 0;
 	_pitch_control_angle  = atan2(GPS_vector_z, target_distance);
 	_yaw_control_angle    = atan2(GPS_vector_x, GPS_vector_y);
+/*
 	// Converts +/- 180 into 0-360.
 	if(_yaw_control_angle<0){
 		_yaw_control_angle += 2*M_PI;
 	}
+*/
 }
 
 /// Stabilizes mount relative to the Earth's frame
@@ -365,13 +367,6 @@ AP_Mount::stabilize()
 	}
 }
 
-// This function is needed to let the HIL code compile
-long
-AP_Mount::rc_map(RC_Channel_aux* rc_ch)
-{
-	return (rc_ch->radio_in - rc_ch->radio_min) * (rc_ch->angle_max - rc_ch->angle_min) / (rc_ch->radio_max - rc_ch->radio_min) + rc_ch->angle_min;
-}
-
 // For testing and development. Called in the medium loop.
 void
 AP_Mount::debug_output()
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index a7194524e8..5f71d526d8 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -64,7 +64,6 @@ private:
 	// internal methods
 	void calc_GPS_target_angle(struct Location *target);
 	void stabilize();
-	long rc_map(RC_Channel_aux* rc_ch);
 
 	//members
 	AP_AHRS *_ahrs;          ///< Rotation matrix from earth to plane.