diff --git a/Rover/Rover.cpp b/Rover/Rover.cpp
index bb4366e140..c39e74d358 100644
--- a/Rover/Rover.cpp
+++ b/Rover/Rover.cpp
@@ -93,7 +93,6 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
 #endif
     SCHED_TASK_CLASS(Compass,          &rover.compass,              cal_update, 50, 200),
     SCHED_TASK(compass_save,           0.1,   200),
-    SCHED_TASK(accel_cal_update,       10,    200),
 #if LOGGING_ENABLED == ENABLED
     SCHED_TASK_CLASS(AP_Logger,     &rover.logger,        periodic_tasks, 50,  300),
 #endif
diff --git a/Rover/Rover.h b/Rover/Rover.h
index 3bcca22c0b..1c3489b956 100644
--- a/Rover/Rover.h
+++ b/Rover/Rover.h
@@ -359,7 +359,6 @@ private:
     void update_compass(void);
     void compass_save(void);
     void update_wheel_encoder();
-    void accel_cal_update(void);
     void read_rangefinders(void);
     void read_airspeed();
     void rpm_update(void);
diff --git a/Rover/sensors.cpp b/Rover/sensors.cpp
index afb0657c9b..058ff2bdd7 100644
--- a/Rover/sensors.cpp
+++ b/Rover/sensors.cpp
@@ -87,20 +87,6 @@ void Rover::update_wheel_encoder()
 #endif
 }
 
-// Accel calibration
-
-void Rover::accel_cal_update() {
-    if (hal.util->get_soft_armed()) {
-        return;
-    }
-    ins.acal_update();
-    // check if new trim values, and set them    float trim_roll, trim_pitch;
-    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 rangefinders
 void Rover::read_rangefinders(void)
 {