diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 52f2d5ad45..1015b6aeb1 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -230,26 +230,6 @@ AP_Proximity::Type AP_Proximity::get_type(uint8_t instance) const
     return Type::None;
 }
 
-// return sensor orientation
-uint8_t AP_Proximity::get_orientation(uint8_t instance) const
-{
-    if (!valid_instance(instance)) {
-        return 0;
-    }
-
-    return params[instance].orientation.get();
-}
-
-// return sensor yaw correction
-int16_t AP_Proximity::get_yaw_correction(uint8_t instance) const
-{
-    if (!valid_instance(instance)) {
-        return 0;
-    }
-
-    return params[instance].yaw_correction.get();
-}
-
 // return sensor health
 AP_Proximity::Status AP_Proximity::get_status(uint8_t instance) const
 {
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index 9dd2948574..a857618754 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -76,9 +76,7 @@ public:
     // return sensor type of a given instance
     Type get_type(uint8_t instance) const;
 
-    // return sensor orientation and yaw correction
-    uint8_t get_orientation(uint8_t instance) const;
-    int16_t get_yaw_correction(uint8_t instance) const;
+    // return distance filter frequency
     float get_filter_freq() const { return _filt_freq; }
 
     // return sensor health
diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.cpp b/libraries/AP_Proximity/AP_Proximity_Backend.cpp
index 02bc6103b5..2c758a7a24 100644
--- a/libraries/AP_Proximity/AP_Proximity_Backend.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_Backend.cpp
@@ -47,8 +47,8 @@ void AP_Proximity_Backend::set_status(AP_Proximity::Status status)
 // correct an angle (in degrees) based on the orientation and yaw correction parameters
 float AP_Proximity_Backend::correct_angle_for_orientation(float angle_degrees) const
 {
-    const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
-    return wrap_360(angle_degrees * angle_sign + frontend.get_yaw_correction(state.instance));
+    const float angle_sign = (params.orientation == 1) ? -1.0f : 1.0f;
+    return wrap_360(angle_degrees * angle_sign + params.yaw_correction);
 }
 
 // check if a reading should be ignored because it falls into an ignore area (check_for_ign_area should be sent as false if this check is not needed)
diff --git a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
index c182b7c2b7..8204a08001 100644
--- a/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_LightWareSF40C.cpp
@@ -307,8 +307,8 @@ void AP_Proximity_LightWareSF40C::process_message()
 
         // process each point
         const float angle_inc_deg = (1.0f / point_total) * 360.0f;
-        const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
-        const float angle_correction = frontend.get_yaw_correction(state.instance);
+        const float angle_sign = (params.orientation == 1) ? -1.0f : 1.0f;
+        const float angle_correction = params.yaw_correction;
         const uint16_t dist_min_cm = distance_min() * 100;
         const uint16_t dist_max_cm = distance_max() * 100;
 
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.cpp b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
index a9d2814abf..254f1f36d7 100644
--- a/libraries/AP_Proximity/AP_Proximity_MAV.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
@@ -141,9 +141,9 @@ void AP_Proximity_MAV::handle_obstacle_distance_msg(const mavlink_message_t &msg
     _last_update_ms = AP_HAL::millis();
 
     // get user configured yaw correction from front end
-    const float param_yaw_offset = constrain_float(frontend.get_yaw_correction(state.instance), -360.0f, +360.0f);
+    const float param_yaw_offset = constrain_float(params.yaw_correction, -360.0f, +360.0f);
     const float yaw_correction = wrap_360(param_yaw_offset + packet.angle_offset);
-    if (frontend.get_orientation(state.instance) != 0) {
+    if (params.orientation != 0) {
         increment *= -1;
     }
 
diff --git a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
index 6f30df2fd6..63d4c82230 100644
--- a/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RPLidarA2.cpp
@@ -305,8 +305,8 @@ void AP_Proximity_RPLidarA2::parse_response_data()
             Debug(2, "UART %02x %02x%02x %02x%02x", payload[0], payload[2], payload[1], payload[4], payload[3]); //show HEX values
             // check if valid SCAN packet: a valid packet starts with startbits which are complementary plus a checkbit in byte+1
             if ((payload.sensor_scan.startbit == !payload.sensor_scan.not_startbit) && payload.sensor_scan.checkbit) {
-                const float angle_sign = (frontend.get_orientation(state.instance) == 1) ? -1.0f : 1.0f;
-                const float angle_deg = wrap_360(payload.sensor_scan.angle_q6/64.0f * angle_sign + frontend.get_yaw_correction(state.instance));
+                const float angle_sign = (params.orientation == 1) ? -1.0f : 1.0f;
+                const float angle_deg = wrap_360(payload.sensor_scan.angle_q6/64.0f * angle_sign + params.yaw_correction);
                 const float distance_m = (payload.sensor_scan.distance_q2/4000.0f);
 #if RP_DEBUG_LEVEL >= 2
                 const uint8_t quality = payload.sensor_scan.quality;