diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 094f5dbfe9..009619f786 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -602,11 +602,7 @@ static float G_Dt = 0.02;
 ////////////////////////////////////////////////////////////////////////////////
 // Inertial Navigation
 ////////////////////////////////////////////////////////////////////////////////
-#if AP_AHRS_NAVEKF_AVAILABLE
 static AP_InertialNav_NavEKF inertial_nav(ahrs, barometer, gps_glitch);
-#else
-static AP_InertialNav inertial_nav(ahrs, barometer, gps_glitch);
-#endif
 
 ////////////////////////////////////////////////////////////////////////////////
 // Attitude, Position and Waypoint navigation objects
diff --git a/ArduCopter/Log.pde b/ArduCopter/Log.pde
index b9edaca786..5cf846cef6 100644
--- a/ArduCopter/Log.pde
+++ b/ArduCopter/Log.pde
@@ -339,7 +339,6 @@ struct PACKED log_Performance {
     int16_t  pm_test;
     uint8_t i2c_lockup_count;
     uint16_t ins_error_count;
-    uint8_t inav_error_count;
 };
 
 // Write a performance monitoring packet
@@ -352,8 +351,7 @@ static void Log_Write_Performance()
         max_time         : perf_info_get_max_time(),
         pm_test          : pmTest1,
         i2c_lockup_count : hal.i2c->lockup_count(),
-        ins_error_count  : ins.error_count(),
-        inav_error_count : inertial_nav.error_count()
+        ins_error_count  : ins.error_count()
     };
     DataFlash.WriteBlock(&pkt, sizeof(pkt));
 }
@@ -607,7 +605,7 @@ static const struct LogStructure log_structure[] PROGMEM = {
     { LOG_CONTROL_TUNING_MSG, sizeof(log_Control_Tuning),
       "CTUN", "Ihhhffecchh", "TimeMS,ThrIn,AngBst,ThrOut,DAlt,Alt,BarAlt,DSAlt,SAlt,DCRt,CRt" },
     { LOG_PERFORMANCE_MSG, sizeof(log_Performance), 
-      "PM",  "HHIhBHB",    "NLon,NLoop,MaxT,PMT,I2CErr,INSErr,INAVErr" },
+      "PM",  "HHIhBH",    "NLon,NLoop,MaxT,PMT,I2CErr,INSErr" },
     { LOG_RATE_MSG, sizeof(log_Rate),
       "RATE", "Ifffffffff",  "TimeMS,RllDes,Rll,RllOut,PitDes,Pit,PitOut,YawDes,Yaw,YawOut" },
     { LOG_MOT_MSG, sizeof(log_Mot),
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index bfa681ea4c..cbea8e7a37 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -167,7 +167,7 @@ public:
         //
         // 100: Inertial Nav
         //
-        k_param_inertial_nav = 100,
+        k_param_inertial_nav = 100, // deprecated
         k_param_wp_nav,
         k_param_attitude_control,
         k_param_pos_control,
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index f94ab492cc..e100fa33b0 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -810,10 +810,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
     GOBJECT(ins,            "INS_", AP_InertialSensor),
 
-    // @Group: INAV_
-    // @Path: ../libraries/AP_InertialNav/AP_InertialNav.cpp
-    GOBJECT(inertial_nav,           "INAV_",    AP_InertialNav),
-
     // @Group: WPNAV_
     // @Path: ../libraries/AC_WPNav/AC_WPNav.cpp
     GOBJECT(wp_nav, "WPNAV_",       AC_WPNav),
diff --git a/ArduCopter/commands.pde b/ArduCopter/commands.pde
index c1a6df3da6..3b256662a1 100644
--- a/ArduCopter/commands.pde
+++ b/ArduCopter/commands.pde
@@ -87,8 +87,6 @@ static bool set_home(const Location& loc)
         if (g.compass_enabled) {
             compass.set_initial_location(gps.location().lat, gps.location().lng);
         }
-        // set inertial nav home
-        inertial_nav.setup_home_position();
         // update navigation scalers.  used to offset the shrinking longitude as we go towards the poles
         scaleLongDown = longitude_scale(loc);
         scaleLongUp   = 1.0f/scaleLongDown;
diff --git a/ArduCopter/motors.pde b/ArduCopter/motors.pde
index 083d6ba708..044731c184 100644
--- a/ArduCopter/motors.pde
+++ b/ArduCopter/motors.pde
@@ -117,9 +117,6 @@ static bool init_arm_motors(bool arming_from_gcs)
     // disable cpu failsafe because initialising everything takes a while
     failsafe_disable();
 
-    // disable inertial nav errors temporarily
-    inertial_nav.ignore_next_error();
-
     // reset battery failsafe
     set_failsafe_battery(false);
 
@@ -162,9 +159,6 @@ static bool init_arm_motors(bool arming_from_gcs)
     // fast baro calibration to reset ground pressure
     init_barometer(false);
 
-    // reset inertial nav alt to zero
-    inertial_nav.set_altitude(0.0f);
-
     // go back to normal AHRS gains
     ahrs.set_fast_gains(false);
 
@@ -688,9 +682,6 @@ static void init_disarm_motors()
 
     motors.armed(false);
 
-    // disable inertial nav errors temporarily
-    inertial_nav.ignore_next_error();
-
     // save offsets if automatic offset learning is on
     if (compass.learn_offsets_enabled()) {
         compass.save_offsets();
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 57776acded..7e55d2aea2 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -208,9 +208,6 @@ static void init_ardupilot()
     // init the optical flow sensor
     init_optflow();
 
-    // initialise inertial nav
-    inertial_nav.init();
-
     // initialise camera mount
     camera_mount.init(serial_manager);