diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index f95e3e02d4..69f5ff4479 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -924,7 +924,6 @@ private:
     void accel_control_run();
     void velaccel_control_run();
     void posvelaccel_control_run();
-    void set_desired_velocity_with_accel_and_fence_limits(const Vector3f& vel_des);
     void set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle);
     bool use_pilot_yaw(void) const;
 
diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp
index d0d99287dc..672728aa72 100644
--- a/ArduCopter/mode_guided.cpp
+++ b/ArduCopter/mode_guided.cpp
@@ -884,11 +884,6 @@ void ModeGuided::angle_control_run()
     }
 }
 
-// helper function to update position controller's desired velocity while respecting acceleration limits
-void ModeGuided::set_desired_velocity_with_accel_and_fence_limits(const Vector3f& vel_des)
-{
-}
-
 // helper function to set yaw state and targets
 void ModeGuided::set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, float yaw_rate_cds, bool relative_angle)
 {