diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 898d7ab62b..b4f5fe236e 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -225,7 +225,6 @@ public:
     virtual void send_nav_controller_output() const = 0;
     virtual void send_pid_tuning() = 0;
     void send_ahrs2();
-    void send_ahrs3();
     void send_system_time();
     void send_rc_channels() const;
     void send_rc_channels_raw() const;
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 24b4886b86..49b24a8470 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -409,29 +409,6 @@ void GCS_MAVLINK::send_ahrs2()
 #endif
 }
 
-void GCS_MAVLINK::send_ahrs3()
-{
-#if AP_AHRS_NAVEKF_AVAILABLE && HAL_NAVEKF2_AVAILABLE
-
-    const NavEKF2 &ekf2 = AP::ahrs_navekf().get_NavEKF2_const();
-    if (ekf2.activeCores() > 0 &&
-        HAVE_PAYLOAD_SPACE(chan, AHRS3)) {
-        struct Location loc {};
-        ekf2.getLLH(loc);
-        Vector3f euler;
-        ekf2.getEulerAngles(-1,euler);
-        mavlink_msg_ahrs3_send(chan,
-                               euler.x,
-                               euler.y,
-                               euler.z,
-                               loc.alt*1.0e-2f,
-                               loc.lat,
-                               loc.lng,
-                               0, 0, 0, 0);
-    }
-#endif
-}
-
 MissionItemProtocol *GCS::get_prot_for_mission_type(const MAV_MISSION_TYPE mission_type) const
 {
     switch (mission_type) {
@@ -759,7 +736,6 @@ ap_message GCS_MAVLINK::mavlink_id_to_ap_message_id(const uint32_t mavlink_id) c
         { MAVLINK_MSG_ID_AHRS,                  MSG_AHRS},
         { MAVLINK_MSG_ID_SIMSTATE,              MSG_SIMSTATE},
         { MAVLINK_MSG_ID_AHRS2,                 MSG_AHRS2},
-        { MAVLINK_MSG_ID_AHRS3,                 MSG_AHRS3},
         { MAVLINK_MSG_ID_HWSTATUS,              MSG_HWSTATUS},
         { MAVLINK_MSG_ID_WIND,                  MSG_WIND},
         { MAVLINK_MSG_ID_RANGEFINDER,           MSG_RANGEFINDER},
@@ -4560,11 +4536,6 @@ bool GCS_MAVLINK::try_send_message(const enum ap_message id)
         send_ahrs2();
         break;
 
-    case MSG_AHRS3:
-        CHECK_PAYLOAD_SIZE(AHRS3);
-        send_ahrs3();
-        break;
-
     case MSG_PID_TUNING:
         CHECK_PAYLOAD_SIZE(PID_TUNING);
         send_pid_tuning();
diff --git a/libraries/GCS_MAVLink/ap_message.h b/libraries/GCS_MAVLink/ap_message.h
index 14cabdd30a..ceb8c524a1 100644
--- a/libraries/GCS_MAVLink/ap_message.h
+++ b/libraries/GCS_MAVLink/ap_message.h
@@ -41,7 +41,6 @@ enum ap_message : uint8_t {
     MSG_AHRS,
     MSG_SIMSTATE,
     MSG_AHRS2,
-    MSG_AHRS3,
     MSG_HWSTATUS,
     MSG_WIND,
     MSG_RANGEFINDER,