diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index c8d142bc62..bd9b0a7e09 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -619,11 +619,6 @@ MAV_MISSION_RESULT AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item
         cmd.p1 = packet.param1;                         // p1=0 means use current location, p=1 means use provided location
         break;
 
-    case MAV_CMD_DO_SET_PARAMETER:                      // MAV ID: 180
-        cmd.p1 = packet.param1;                         // parameter number
-        cmd.content.location.alt = packet.param2;       // parameter value
-        break;
-
     case MAV_CMD_DO_SET_RELAY:                          // MAV ID: 181
         cmd.content.relay.num = packet.param1;          // relay number
         cmd.content.relay.state = packet.param2;        // 0:off, 1:on
@@ -964,11 +959,6 @@ bool AP_Mission::mission_cmd_to_mavlink(const AP_Mission::Mission_Command& cmd,
         packet.param1 = cmd.p1;                         // p1=0 means use current location, p=1 means use provided location
         break;
 
-    case MAV_CMD_DO_SET_PARAMETER:                      // MAV ID: 180
-        packet.param1 = cmd.p1;                         // parameter number
-        packet.param2 = cmd.content.location.alt;       // parameter value
-        break;
-
     case MAV_CMD_DO_SET_RELAY:                          // MAV ID: 181
         packet.param1 = cmd.content.relay.num;          // relay number
         packet.param2 = cmd.content.relay.state;        // 0:off, 1:on