diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index f21e04f38c..ec8820d82c 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1476,11 +1476,7 @@ void update_yaw_mode(void)
 
     case YAW_ACRO:
         // pilot controlled yaw using rate controller
-        if(g.axis_enabled) {
-            get_yaw_rate_stabilized_bf(g.rc_4.control_in);
-        }else{
-            get_acro_yaw(g.rc_4.control_in);
-        }
+        get_yaw_rate_stabilized_bf(g.rc_4.control_in);
         break;
 
     case YAW_LOOK_AT_NEXT_WP:
@@ -1673,32 +1669,21 @@ void update_roll_pitch_mode(void)
         control_pitch           = g.rc_2.control_in;
 
 #if FRAME_CONFIG == HELI_FRAME
-		if(g.axis_enabled) {
-		    acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
-            get_roll_rate_stabilized_bf(g.rc_1.control_in);
-            get_pitch_rate_stabilized_bf(g.rc_2.control_in);
-            get_acro_level_rates();
+        // ACRO does not get SIMPLE mode ability
+        if (motors.flybar_mode == 1) {
+            g.rc_1.servo_out = g.rc_1.control_in;
+            g.rc_2.servo_out = g.rc_2.control_in;
         }else{
-            // ACRO does not get SIMPLE mode ability
-            if (motors.flybar_mode == 1) {
-                g.rc_1.servo_out = g.rc_1.control_in;
-                g.rc_2.servo_out = g.rc_2.control_in;
-            } else {
-                get_acro_roll(g.rc_1.control_in);
-                get_acro_pitch(g.rc_2.control_in);
-            }
-		}
-#else  // !HELI_FRAME
-		if(g.axis_enabled) {
             acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
             get_roll_rate_stabilized_bf(g.rc_1.control_in);
             get_pitch_rate_stabilized_bf(g.rc_2.control_in);
             get_acro_level_rates();
-        }else{
-            // ACRO does not get SIMPLE mode ability
-            get_acro_roll(g.rc_1.control_in);
-            get_acro_pitch(g.rc_2.control_in);
-		}
+        }
+#else  // !HELI_FRAME
+        acro_level_mix = constrain_float(1-max(max(abs(g.rc_1.control_in), abs(g.rc_2.control_in)), abs(g.rc_4.control_in))/4500.0, 0, 1)*cos_pitch_x;
+        get_roll_rate_stabilized_bf(g.rc_1.control_in);
+        get_pitch_rate_stabilized_bf(g.rc_2.control_in);
+        get_acro_level_rates();
 #endif  // HELI_FRAME
         break;
 
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index ab01345823..4a8d942657 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -146,7 +146,7 @@ public:
         k_param_auto_slew_rate,     // deprecated - can be deleted
         k_param_sonar_type,
         k_param_super_simple = 155,
-        k_param_axis_enabled = 157,
+        k_param_axis_enabled = 157, // deprecated - remove with next eeprom number change
         k_param_copter_leds_mode,
         k_param_ahrs, // AHRS group
 
@@ -290,7 +290,6 @@ public:
     AP_Float        low_voltage;
     AP_Int8         super_simple;
     AP_Int16        rtl_alt_final;
-    AP_Int8         axis_enabled;
     AP_Int8         copter_leds_mode;           // Operating mode of LED
                                                 // lighting system
 
diff --git a/ArduCopter/Parameters.pde b/ArduCopter/Parameters.pde
index dc6e4f442e..d0ff2635c4 100644
--- a/ArduCopter/Parameters.pde
+++ b/ArduCopter/Parameters.pde
@@ -521,13 +521,6 @@ const AP_Param::Info var_info[] PROGMEM = {
     // @User: Standard
     GSCALAR(acro_p,                 "ACRO_P",           ACRO_P),
 
-    // @Param: AXIS_ENABLE
-    // @DisplayName: Acro Axis
-    // @Description: Used to control whether acro mode actively maintains the current angle when control sticks are released (Enabled = maintains current angle)
-    // @Values: 0:Disabled, 1:Enabled
-    // @User: Standard
-    GSCALAR(axis_enabled,           "AXIS_ENABLE",      AXIS_LOCK_ENABLED),
-
     // @Param: ACRO_BAL_ROLL
     // @DisplayName: Acro Balance Roll
     // @Description: rate at which roll angle returns to level in acro mode