diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
index 53412b3ea6..c411a53e47 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU9250.cpp
@@ -443,7 +443,6 @@ void AP_InertialSensor_MPU9250::_accumulate(uint8_t *samples, uint8_t n_samples)
 
 void AP_InertialSensor_MPU9250::_accumulate_fast_sampling(uint8_t *samples, uint8_t n_samples)
 {
-    Vector3l asum, gsum;
     float tsum = 0;
     const int32_t clip_limit = AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS / MPU9250_ACCEL_SCALE_1G;
     bool clipped = false;