diff --git a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
index 8b026a3555..df1f94f350 100644
--- a/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
+++ b/libraries/AP_OpticalFlow/AP_OpticalFlow_PX4.cpp
@@ -65,11 +65,10 @@ void AP_OpticalFlow_PX4::update(void)
         _surface_quality = report.quality;
         if (report.integration_timespan > 0) {
             float flowScaleFactor = 0.01f * float(100 + _flowScaler);
-            float gyroScaleFactor = 0.01f * float(100 + _gyroScaler);
             _flowRate.x = flowScaleFactor * report.pixel_flow_x_integral / (report.integration_timespan / 1e6f); // rad/sec measured optically about the X sensor axis
             _flowRate.y = flowScaleFactor * report.pixel_flow_y_integral / (report.integration_timespan / 1e6f); // rad/sec measured optically about the Y sensor axis
-            _bodyRate.x = gyroScaleFactor * report.gyro_x_rate_integral / (report.integration_timespan / 1e6f); // rad/sec measured inertially about the X sensor axis
-            _bodyRate.y = gyroScaleFactor * report.gyro_y_rate_integral / (report.integration_timespan / 1e6f); // rad/sec measured inertially about the Y sensor axis
+            _bodyRate.x = report.gyro_x_rate_integral / (report.integration_timespan / 1e6f); // rad/sec measured inertially about the X sensor axis
+            _bodyRate.y = report.gyro_y_rate_integral / (report.integration_timespan / 1e6f); // rad/sec measured inertially about the Y sensor axis
         } else {
             _flowRate.x = 0.0f;
             _flowRate.y = 0.0f;
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index a57fb7c776..55867e1645 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -18,14 +18,6 @@ const AP_Param::GroupInfo OpticalFlow::var_info[] PROGMEM = {
     // @User: Standard
     AP_GROUPINFO("_FSCALER", 1,  OpticalFlow,    _flowScaler,   0),
 
-    // @Param: GSCALER
-    // @DisplayName: Gyro scale factor correction
-    // @Description: This sets the percentage scale factor correction applied to the flow sensor gyro rates. It can be used to correct for sensor errors.
-    // @Range: -20 +20
-    // @Increment: 1
-    // @User: Standard
-    AP_GROUPINFO("_GSCALER", 2,  OpticalFlow,    _gyroScaler,   0),
-
     AP_GROUPEND
 };
 
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.h b/libraries/AP_OpticalFlow/OpticalFlow.h
index 7be30b5b23..b37a9c193f 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.h
+++ b/libraries/AP_OpticalFlow/OpticalFlow.h
@@ -80,7 +80,6 @@ protected:
     // parameters
     AP_Int8  _enabled;              // enabled/disabled flag
     AP_Int8  _flowScaler;           // flow angular rate correction percentage
-    AP_Int8  _gyroScaler;           // gyro angular rate correction percentage
 
     // internal variables
     uint8_t _device_id;             // device id