diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 1391643a85..b22f1f7a90 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -308,16 +308,6 @@ static void init_ardupilot()
 	// ---------------------------
 	reset_control_switch();
 
-	#if HIL_MODE != HIL_MODE_ATTITUDE
-#if QUATERNION_ENABLE == DISABLED
-		dcm.kp_roll_pitch(0.130000);
-		dcm.ki_roll_pitch(0.00001278),	// 50 hz I term
-		dcm.kp_yaw(0.12);
-		dcm.ki_yaw(0.00002);
-		dcm._clamp = 5;
-#endif
-	#endif
-
 	// init the Z damopener
 	// --------------------
 	#if ACCEL_ALT_HOLD != 0