diff --git a/libraries/AP_AHRS/AP_AHRS_Logging.cpp b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
index afeef1fa32..1530a19b3d 100644
--- a/libraries/AP_AHRS/AP_AHRS_Logging.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_Logging.cpp
@@ -139,50 +139,4 @@ void AP_AHRS_View::Write_AttitudeView(const Vector3f &targets) const
     AP::logger().WriteBlock(&pkt, sizeof(pkt));
 }
 
-// Write a rate packet
-void AP_AHRS_View::Write_Rate(const AP_Motors &motors, const AC_AttitudeControl &attitude_control,
-                                const AC_PosControl &pos_control) const
-{
-    const Vector3f &rate_targets = attitude_control.rate_bf_targets();
-    const Vector3f &accel_target = pos_control.get_accel_target_cmss();
-    const auto timeus = AP_HAL::micros64();
-    const struct log_Rate pkt_rate{
-        LOG_PACKET_HEADER_INIT(LOG_RATE_MSG),
-        time_us         : timeus,
-        control_roll    : degrees(rate_targets.x),
-        roll            : degrees(get_gyro().x),
-        roll_out        : motors.get_roll()+motors.get_roll_ff(),
-        control_pitch   : degrees(rate_targets.y),
-        pitch           : degrees(get_gyro().y),
-        pitch_out       : motors.get_pitch()+motors.get_pitch_ff(),
-        control_yaw     : degrees(rate_targets.z),
-        yaw             : degrees(get_gyro().z),
-        yaw_out         : motors.get_yaw()+motors.get_yaw_ff(),
-        control_accel   : (float)accel_target.z,
-        accel           : (float)(-(get_accel_ef().z + GRAVITY_MSS) * 100.0f),
-        accel_out       : motors.get_throttle(),
-        throttle_slew   : motors.get_throttle_slew_rate()
-    };
-    AP::logger().WriteBlock(&pkt_rate, sizeof(pkt_rate));
-
-    /*
-      log P/PD gain scale if not == 1.0
-     */
-    const Vector3f &scale = attitude_control.get_last_angle_P_scale();
-    const Vector3f &pd_scale = attitude_control.get_PD_scale_logging();
-    if (scale != AC_AttitudeControl::VECTORF_111 || pd_scale != AC_AttitudeControl::VECTORF_111) {
-        const struct log_ATSC pkt_ATSC {
-            LOG_PACKET_HEADER_INIT(LOG_ATSC_MSG),
-            time_us  : timeus,
-            scaleP_x : scale.x,
-            scaleP_y : scale.y,
-            scaleP_z : scale.z,
-            scalePD_x : pd_scale.x,
-            scalePD_y : pd_scale.y,
-            scalePD_z : pd_scale.z,
-        };
-        AP::logger().WriteBlock(&pkt_ATSC, sizeof(pkt_ATSC));
-    }
-}
-
 #endif  // HAL_LOGGING_ENABLED
diff --git a/libraries/AP_AHRS/AP_AHRS_View.h b/libraries/AP_AHRS/AP_AHRS_View.h
index ff0f2293c1..1090e112f8 100644
--- a/libraries/AP_AHRS/AP_AHRS_View.h
+++ b/libraries/AP_AHRS/AP_AHRS_View.h
@@ -174,9 +174,6 @@ public:
 
     // Logging Functions
     void Write_AttitudeView(const Vector3f &targets) const;    
-    void Write_Rate(const class AP_Motors &motors,
-                    const class AC_AttitudeControl &attitude_control,
-                    const AC_PosControl &pos_control) const;
 
     float roll;
     float pitch;
diff --git a/libraries/AP_AHRS/LogStructure.h b/libraries/AP_AHRS/LogStructure.h
index 08da53e1c2..af0c4c36d1 100644
--- a/libraries/AP_AHRS/LogStructure.h
+++ b/libraries/AP_AHRS/LogStructure.h
@@ -105,40 +105,6 @@ struct PACKED log_POS {
     float rel_origin_alt;
 };
 
-// @LoggerMessage: RATE
-// @Description: Desired and achieved vehicle attitude rates. Not logged in Fixed Wing Plane modes.
-// @Field: TimeUS: Time since system startup
-// @Field: RDes: vehicle desired roll rate
-// @Field: R: achieved vehicle roll rate
-// @Field: ROut: normalized output for Roll
-// @Field: PDes: vehicle desired pitch rate
-// @Field: P: vehicle pitch rate
-// @Field: POut: normalized output for Pitch
-// @Field: Y: achieved vehicle yaw rate
-// @Field: YOut: normalized output for Yaw
-// @Field: YDes: vehicle desired yaw rate
-// @Field: ADes: desired vehicle vertical acceleration
-// @Field: A: achieved vehicle vertical acceleration
-// @Field: AOut: percentage of vertical thrust output current being used
-// @Field: AOutSlew: vertical thrust output slew rate
-struct PACKED log_Rate {
-    LOG_PACKET_HEADER;
-    uint64_t time_us;
-    float   control_roll;
-    float   roll;
-    float   roll_out;
-    float   control_pitch;
-    float   pitch;
-    float   pitch_out;
-    float   control_yaw;
-    float   yaw;
-    float   yaw_out;
-    float   control_accel;
-    float   accel;
-    float   accel_out;
-    float   throttle_slew;
-};
-
 // @LoggerMessage: VSTB
 // @Description: Log message for video stabilisation software such as Gyroflow
 // @Field: TimeUS: Time since system startup
@@ -200,8 +166,6 @@ struct PACKED log_ATSC {
         "ORGN","QBLLe","TimeUS,Type,Lat,Lng,Alt", "s#DUm", "F-GGB" }, \
     { LOG_POS_MSG, sizeof(log_POS), \
         "POS","QLLfff","TimeUS,Lat,Lng,Alt,RelHomeAlt,RelOriginAlt", "sDUmmm", "FGG000" , true }, \
-    { LOG_RATE_MSG, sizeof(log_Rate), \
-        "RATE", "Qfffffffffffff",  "TimeUS,RDes,R,ROut,PDes,P,POut,YDes,Y,YOut,ADes,A,AOut,AOutSlew", "skk-kk-kk-oo--", "F?????????BB--" , true }, \
     { LOG_ATSC_MSG, sizeof(log_ATSC), \
         "ATSC", "Qffffff",  "TimeUS,AngPScX,AngPScY,AngPScZ,PDScX,PDScY,PDScZ", "s------", "F000000" , true }, \
     { LOG_VIDEO_STABILISATION_MSG, sizeof(log_Video_Stabilisation), \