diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl.h b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
index b3ce06842f..278a85b82b 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl.h
@@ -13,38 +13,6 @@
 #include <AC_PID/AC_PID.h>
 #include <AC_PID/AC_P.h>
 
-// default rate controller PID gains
-#ifndef AC_ATC_MULTI_RATE_RP_P
-  # define AC_ATC_MULTI_RATE_RP_P           0.150f
-#endif
-#ifndef AC_ATC_MULTI_RATE_RP_I
-  # define AC_ATC_MULTI_RATE_RP_I           0.100f
-#endif
-#ifndef AC_ATC_MULTI_RATE_RP_D
-  # define AC_ATC_MULTI_RATE_RP_D           0.004f
-#endif
-#ifndef AC_ATC_MULTI_RATE_RP_IMAX
- # define AC_ATC_MULTI_RATE_RP_IMAX         2000.0f
-#endif
-#ifndef AC_ATC_MULTI_RATE_RP_FILT_HZ
- # define AC_ATC_MULTI_RATE_RP_FILT_HZ      20.0f
-#endif
-#ifndef AC_ATC_MULTI_RATE_YAW_P
- # define AC_ATC_MULTI_RATE_YAW_P           0.200f
-#endif
-#ifndef AC_ATC_MULTI_RATE_YAW_I
- # define AC_ATC_MULTI_RATE_YAW_I           0.020f
-#endif
-#ifndef AC_ATC_MULTI_RATE_YAW_D
- # define AC_ATC_MULTI_RATE_YAW_D           0.0f
-#endif
-#ifndef AC_ATC_MULTI_RATE_YAW_IMAX
- # define AC_ATC_MULTI_RATE_YAW_IMAX        1000.0f
-#endif
-#ifndef AC_ATC_MULTI_RATE_YAW_FILT_HZ
- # define AC_ATC_MULTI_RATE_YAW_FILT_HZ     5.0f
-#endif
-
 // TODO: change the name or move to AP_Math? eliminate in favor of degrees(100)?
 #define AC_ATTITUDE_CONTROL_DEGX100                           5729.57795f      // constant to convert from radians to centidegrees
 
@@ -89,10 +57,7 @@ public:
         _throttle_in_filt(AC_ATTITUDE_CONTROL_ALTHOLD_LEANANGLE_FILT_HZ),
         _ahrs(ahrs),
         _aparm(aparm),
-        _motors(motors),
-        _pid_rate_roll(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
-            _pid_rate_pitch(AC_ATC_MULTI_RATE_RP_P, AC_ATC_MULTI_RATE_RP_I, AC_ATC_MULTI_RATE_RP_D, AC_ATC_MULTI_RATE_RP_IMAX, AC_ATC_MULTI_RATE_RP_FILT_HZ, dt),
-            _pid_rate_yaw(AC_ATC_MULTI_RATE_YAW_P, AC_ATC_MULTI_RATE_YAW_I, AC_ATC_MULTI_RATE_YAW_D, AC_ATC_MULTI_RATE_YAW_IMAX, AC_ATC_MULTI_RATE_YAW_FILT_HZ, dt)
+        _motors(motors)
         {
             AP_Param::setup_object_defaults(this, var_info);
         }
@@ -342,9 +307,6 @@ protected:
     AC_P                _p_angle_roll;
     AC_P                _p_angle_pitch;
     AC_P                _p_angle_yaw;
-    AC_PID                _pid_rate_roll;
-    AC_PID                _pid_rate_pitch;
-    AC_PID                _pid_rate_yaw;
 
     // Intersampling period in seconds
     float               _dt;