diff --git a/libraries/AC_PID/AC_P_1D.cpp b/libraries/AC_PID/AC_P_1D.cpp
index 513c3af016..164c0a4772 100644
--- a/libraries/AC_PID/AC_P_1D.cpp
+++ b/libraries/AC_PID/AC_P_1D.cpp
@@ -24,24 +24,17 @@ AC_P_1D::AC_P_1D(float initial_p, float dt) :
 
 // update_all - set target and measured inputs to P controller and calculate outputs
 // target and measurement are filtered
-// if measurement is further than error_min or error_max (see set_limits method)
-//   the target is moved closer to the measurement and limit_min or limit_max will be set true
-float AC_P_1D::update_all(float &target, float measurement, bool &limit_min, bool &limit_max)
+float AC_P_1D::update_all(float &target, float measurement)
 {
-    limit_min = false;
-    limit_max = false;
-
     // calculate distance _error
     _error = target - measurement;
 
     if (is_negative(_error_min) && (_error < _error_min)) {
         _error = _error_min;
         target = measurement + _error;
-        limit_min = true;
     } else if (is_positive(_error_max) && (_error > _error_max)) {
         _error = _error_max;
         target = measurement + _error;
-        limit_max = true;
     }
 
     // MIN(_Dxy_max, _D2xy_max / _kxy_P) limits the max accel to the point where max jerk is exceeded
diff --git a/libraries/AC_PID/AC_P_1D.h b/libraries/AC_PID/AC_P_1D.h
index 046d5e02be..5285ebce79 100644
--- a/libraries/AC_PID/AC_P_1D.h
+++ b/libraries/AC_PID/AC_P_1D.h
@@ -21,9 +21,7 @@ public:
 
     // update_all - set target and measured inputs to P controller and calculate outputs
     // target and measurement are filtered
-    // if measurement is further than error_min or error_max (see set_limits method)
-    //   the target is moved closer to the measurement and limit_min or limit_max will be set true
-    float update_all(float &target, float measurement, bool &limit_min, bool &limit_max) WARN_IF_UNUSED;
+    float update_all(float &target, float measurement) WARN_IF_UNUSED;
 
     // set_limits - sets the maximum error to limit output and first and second derivative of output
     void set_limits(float output_min, float output_max, float D_Out_max = 0.0f, float D2_Out_max = 0.0f);
diff --git a/libraries/AC_PID/AC_P_2D.cpp b/libraries/AC_PID/AC_P_2D.cpp
index a37e2ee9c1..f7478100fc 100644
--- a/libraries/AC_PID/AC_P_2D.cpp
+++ b/libraries/AC_PID/AC_P_2D.cpp
@@ -23,11 +23,8 @@ AC_P_2D::AC_P_2D(float initial_p, float dt) :
 }
 
 // update_all - set target and measured inputs to P controller and calculate outputs
-// limit is set true if the target has been moved to limit the maximum position error
-Vector2f AC_P_2D::update_all(postype_t &target_x, postype_t &target_y, const Vector2f &measurement, bool &limit)
+Vector2f AC_P_2D::update_all(postype_t &target_x, postype_t &target_y, const Vector2f &measurement)
 {
-    limit = false;
-
     // calculate distance _error
     _error = (Vector2p{target_x, target_y} - measurement.topostype()).tofloat();
 
@@ -36,7 +33,6 @@ Vector2f AC_P_2D::update_all(postype_t &target_x, postype_t &target_y, const Vec
     if (is_positive(_error_max) && _error.limit_length(_error_max)) {
         target_x = measurement.x + _error.x;
         target_y = measurement.y + _error.y;
-        limit = true;
     }
 
     // MIN(_Dmax, _D2max / _kp) limits the max accel to the point where max jerk is exceeded
diff --git a/libraries/AC_PID/AC_P_2D.h b/libraries/AC_PID/AC_P_2D.h
index d547a07da1..17b5803e2e 100644
--- a/libraries/AC_PID/AC_P_2D.h
+++ b/libraries/AC_PID/AC_P_2D.h
@@ -20,12 +20,12 @@ public:
     void set_dt(float dt) { _dt = dt; }
 
     // set target and measured inputs to P controller and calculate outputs
-    Vector2f update_all(postype_t &target_x, postype_t &target_y, const Vector2f &measurement, bool &limit) WARN_IF_UNUSED;
+    Vector2f update_all(postype_t &target_x, postype_t &target_y, const Vector2f &measurement) WARN_IF_UNUSED;
 
     // set target and measured inputs to P controller and calculate outputs
     // measurement is provided as 3-axis vector but only x and y are used
-    Vector2f update_all(postype_t &target_x, postype_t &target_y, const Vector3f &measurement, bool &limit) WARN_IF_UNUSED {
-        return update_all(target_x, target_y, Vector2f{measurement.x, measurement.y}, limit);
+    Vector2f update_all(postype_t &target_x, postype_t &target_y, const Vector3f &measurement) WARN_IF_UNUSED {
+        return update_all(target_x, target_y, Vector2f{measurement.x, measurement.y});
     }
 
     // set_limits - sets the maximum error to limit output and first and second derivative of output