diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 2e31f31b7e..dcb78800aa 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -329,4 +329,14 @@ void Rover::update_current_mode(void)
     control_mode->update();
 }
 
+// update mission including starting or stopping commands. called by scheduler at 10Hz
+void Rover::update_mission(void)
+{
+    if (control_mode == &mode_auto) {
+        if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
+            mode_auto.mission.update();
+        }
+    }
+}
+
 AP_HAL_MAIN_CALLBACKS(&rover);
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index e2638f9099..97d6ea75e8 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -392,14 +392,12 @@ private:
     void one_second_loop(void);
     void update_GPS(void);
     void update_current_mode(void);
+    void update_mission(void);
 
     // balance_bot.cpp
     void balancebot_pitch_control(float &throttle);
     bool is_balancebot() const;
 
-    // commands_logic.cpp
-    void update_mission(void);
-
     // commands.cpp
     bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
deleted file mode 100644
index 88649ef57d..0000000000
--- a/APMrover2/commands_logic.cpp
+++ /dev/null
@@ -1,11 +0,0 @@
-#include "Rover.h"
-
-// update mission including starting or stopping commands. called by scheduler at 10Hz
-void Rover::update_mission(void)
-{
-    if (control_mode == &mode_auto) {
-        if (ahrs.home_is_set() && mode_auto.mission.num_commands() > 1) {
-            mode_auto.mission.update();
-        }
-    }
-}