diff --git a/libraries/AP_PerfMon/AP_PerfMon.cpp b/libraries/AP_PerfMon/AP_PerfMon.cpp
deleted file mode 100644
index 1a3272e110..0000000000
--- a/libraries/AP_PerfMon/AP_PerfMon.cpp
+++ /dev/null
@@ -1,214 +0,0 @@
-#include "AP_PerfMon.h"
-
-extern const AP_HAL::HAL& hal;
-
-// static class variable definitions
-uint8_t AP_PerfMon::nextFuncNum;
-char AP_PerfMon::functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
-uint32_t AP_PerfMon::time[PERFMON_MAX_FUNCTIONS];
-uint32_t AP_PerfMon::maxTime[PERFMON_MAX_FUNCTIONS];
-uint32_t AP_PerfMon::numCalls[PERFMON_MAX_FUNCTIONS];
-uint32_t AP_PerfMon::allStartTime;
-uint32_t AP_PerfMon::allEndTime;
-AP_PerfMon* AP_PerfMon::lastCreated = NULL;
-bool AP_PerfMon::_enabled = true;
-
-// constructor
-AP_PerfMon::AP_PerfMon(uint8_t funcNum) : _funcNum(funcNum), _time_this_iteration(0)
-{
-    // exit immediately if we are disabled
-    if( !_enabled ) {
-        return;
-    }
-
-    // check global start time
-    if( allStartTime == 0 ) {
-        allStartTime = AP_HAL::micros();
-    }
-
-    // stop recording time from parent
-    _parent = lastCreated;  // add pointer to parent
-	if( _parent != NULL ) {
-        _parent->stop();
-    }
-
-    // record myself as the last created instance
-    lastCreated = this;
-
-    numCalls[_funcNum]++;   // record that this function has been called
-    start();  				// start recording time spent in this function
-}
-
-// destructor
-AP_PerfMon::~AP_PerfMon()
-{
-    // exit immediately if we are disabled
-    if( !_enabled ) {
-        return;
-    }
-
-    stop();   // stop recording time spent in this function
-    lastCreated = _parent;  // make my parent the last created instance
-
-    // calculate max time spent in this function
-    if( _time_this_iteration > maxTime[_funcNum] ) {
-        maxTime[_funcNum] = _time_this_iteration;
-    }
-
-    // restart recording time for parent
-    if( _parent != NULL )
-        _parent->start();
-}
-
-// record function name in static list
-uint8_t AP_PerfMon::recordFunctionName(const char funcName[])
-{
-    uint8_t nextNum = nextFuncNum++;
-    uint8_t i;
-
-    // clear existing function name (if any)
-    functionNames[nextNum][0] = 0;
-
-    // store function name
-    for( i=0; i<PERFMON_FUNCTION_NAME_LENGTH-1 && funcName[i] != 0; i++ ) {
-        functionNames[nextNum][i] = funcName[i];
-    }
-    functionNames[nextNum][i] = 0;
-
-    return nextNum;
-}
-
-// stop recording time
-void AP_PerfMon::start()
-{
-    _startTime = AP_HAL::micros();  // start recording time spent in this function
-}
-
-// stop recording time
-void AP_PerfMon::stop()
-{
-    uint32_t temp_time = AP_HAL::micros()-_startTime;
-    _time_this_iteration += temp_time;
-    time[_funcNum] += temp_time;
-}
-
-// ClearAll - clears all data from static members
-void AP_PerfMon::ClearAll()
-{
-    uint8_t i;
-    AP_PerfMon *p = lastCreated;
-
-    for(i=0; i<PERFMON_MAX_FUNCTIONS; i++) {
-        time[i] = 0;        // reset times
-        numCalls[i] = 0;    // reset num times called
-        maxTime[i] = 0;     // reset maximum time
-    }
-
-    // reset start time to now
-    allStartTime = AP_HAL::micros();
-    allEndTime = 0;
-
-    // reset start times of any active counters
-    while( p != NULL ) {
-        p->_startTime = allStartTime;
-        p = p->_parent;
-    }
-}
-
-// DisplayResults - displays table of timing results
-void AP_PerfMon::DisplayResults()
-{
-    uint8_t i,j,changed;
-    float hz;
-    float pct;
-    uint32_t totalTime;
-    uint32_t avgTime;
-    uint32_t sumOfTime = 0;
-    uint32_t unExplainedTime;
-    uint8_t order[PERFMON_MAX_FUNCTIONS];
-
-    // record end time
-    if( allEndTime == 0 ) {
-        allEndTime = AP_HAL::micros();
-    }
-
-    // turn off any time recording
-    if( lastCreated != NULL ) {
-        lastCreated->stop();
-    }
-    _enabled = false;
-
-    // reorder results
-    for(i=0; i<nextFuncNum; i++) {
-        order[i] = i;
-    }
-    changed=0;
-    do{
-        changed = 0;
-        for(i=0; i<nextFuncNum-1; i++)
-            if(time[order[i]]<time[order[i+1]]) {
-                j = order[i];
-                order[i] = order[i+1];
-                order[i+1] = j;
-                changed = 1;
-            }
-	}while(changed != 0);
-
-    // calculate time elapsed
-    totalTime = allEndTime - allStartTime;
-
-    // ensure serial is blocking
-    hal.console->set_blocking_writes(true);
-
-    // print table of results
-    hal.console->printf("\nPerfMon elapsed:%lu(ms)\n",(unsigned long)totalTime/1000);
-    hal.console->printf("Fn:\t\tcpu\ttot(ms)\tavg(ms)\tmax(ms)\t#calls\tHz\n");
-    for( i=0; i<nextFuncNum; i++ ) {
-        j=order[i];
-        sumOfTime += time[j];
-
-        // calculate average execution time
-        if( numCalls[j] > 0 ) {
-            avgTime = time[j] / numCalls[j];
-        }else{
-            avgTime = 0;
-        }
-
-        hz = numCalls[j]/(totalTime/1000000);
-        pct = ((float)time[j] / (float)totalTime) * 100.0f;
-        hal.console->printf("%-10s\t%4.2f\t%lu\t%4.3f\t%4.3f\t%lu\t%4.1f\n",
-            functionNames[j],
-            pct,
-            (unsigned long)time[j]/1000,
-            (float)avgTime/1000.0f,
-            (float)maxTime[j]/1000.0f,
-            numCalls[j],
-            hz);
-    }
-    // display unexplained time
-    if( sumOfTime >= totalTime ) {
-        unExplainedTime = 0;
-    } else {
-        unExplainedTime = totalTime - sumOfTime;
-    }
-    pct = ((float)unExplainedTime / (float)totalTime) * 100.0f;
-    hal.console->printf("unexpl:\t\t%4.2f\t%lu\n",pct,(unsigned long)unExplainedTime/1000);
-
-    // restore to blocking writes if necessary
-    hal.console->set_blocking_writes(false);
-
-    // turn back on any time recording
-    if( lastCreated != NULL ) {
-        lastCreated->start();
-    }
-    _enabled = true;
-}
-
-// DisplayAndClear - will display results after this many milliseconds.  should be called regularly
-void AP_PerfMon::DisplayAndClear(uint32_t display_after_seconds)
-{
-    if( (AP_HAL::micros() - allStartTime) > (uint32_t)(display_after_seconds * 1000000) ) {
-        DisplayResults();
-        ClearAll();
-    }
-}
diff --git a/libraries/AP_PerfMon/AP_PerfMon.h b/libraries/AP_PerfMon/AP_PerfMon.h
deleted file mode 100644
index 99843a381f..0000000000
--- a/libraries/AP_PerfMon/AP_PerfMon.h
+++ /dev/null
@@ -1,52 +0,0 @@
-#ifndef AP_PERFMON_H
-#define AP_PERFMON_H
-
-// macros to make integrating into code easier
-#define AP_PERFMON_REGISTER static uint8_t myFunc = AP_PerfMon::recordFunctionName(__func__); AP_PerfMon perfMon(myFunc);
-#define AP_PERFMON_REGISTER_NAME(functionName) static uint8_t myFunc = AP_PerfMon::recordFunctionName(functionName); AP_PerfMon perfMon(myFunc);
-
-#define AP_PERFMON_REGISTER_FN(func_name) static uint8_t func_name ## _num = AP_PerfMon::recordFunctionName(#func_name);
-#define AP_PERFMON_FUNCTION(func_name) AP_PerfMon perfMon(func_name ## _num);
-
-
-#define PERFMON_MAX_FUNCTIONS 12
-#define PERFMON_FUNCTION_NAME_LENGTH 10
-
-#include <AP_HAL/AP_HAL.h>
-#include <AP_Math/AP_Math.h>
-
-class AP_PerfMon
-{
-    public:
-		// static methods
-        static uint8_t recordFunctionName(const char funcName[]);
-        static void DisplayResults();
-		static void ClearAll();
-        static void DisplayAndClear(uint32_t display_after_seconds);  // will display results after this many milliseconds.  should be called regularly
-
-		// public methods
-		AP_PerfMon(uint8_t funcNum);    // Constructor - records function start time
-		~AP_PerfMon();                  // Destructor - records function end time
-		void stop();                    // stops recording time spent in this function - meant to be called by a child.
-		void start();                   // restarts recording time spent in this function
-
-    private:
-        // static variables
-        static uint8_t nextFuncNum;
-		static char functionNames[PERFMON_MAX_FUNCTIONS][PERFMON_FUNCTION_NAME_LENGTH];
-        static uint32_t time[PERFMON_MAX_FUNCTIONS];
-		static uint32_t numCalls[PERFMON_MAX_FUNCTIONS];
-        static uint32_t maxTime[PERFMON_MAX_FUNCTIONS];
-		static uint32_t allStartTime;
-		static uint32_t allEndTime;
-		static AP_PerfMon* lastCreated;
-        static bool _enabled;
-
-        // instance variables
-        uint8_t _funcNum;
-        unsigned long _startTime;
-        unsigned long _time_this_iteration;
-		AP_PerfMon* _parent;
-};
-
-#endif  // AP_PERFMON_H
\ No newline at end of file
diff --git a/libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.cpp b/libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.cpp
deleted file mode 100644
index f30c1f3bd4..0000000000
--- a/libraries/AP_PerfMon/AP_PerfMon_test/AP_PerfMon_test.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-  AP_PerfMon
-  Code by Randy Mackay
-*/
-
-#include <AP_Common/AP_Common.h>
-#include <AP_Param/AP_Param.h>
-#include <AP_Math/AP_Math.h>
-#include <AP_HAL/AP_HAL.h>
-#include <StorageManager/StorageManager.h>
-#include <AP_PerfMon/AP_PerfMon.h>        // PerfMonitor library
-
-const AP_HAL::HAL& hal = AP_HAL::get_HAL();
-
-AP_PERFMON_REGISTER_FN(setup)
-AP_PERFMON_REGISTER_FN(loop)
-AP_PERFMON_REGISTER_FN(testFn)
-AP_PERFMON_REGISTER_FN(testFn2)
-
-void setup()
-{
-  AP_PERFMON_FUNCTION(setup)
-
-  hal.console->print("Performance Monitor test v1.1\n");
-}
-
-void loop()
-{
-    AP_PERFMON_FUNCTION(loop)
-
-    int16_t i = 0;
-
-    for( i=0; i<10; i++ ) {
-        testFn();
-    }
-
-    AP_PerfMon::DisplayAndClear(5);
-    //AP_PerfMon::DisplayResults();
-    //AP_PerfMon::ClearAll();
-
-    hal.scheduler->delay(2000);
-}
-
-void testFn()
-{
-    AP_PERFMON_FUNCTION(testFn)
-    hal.scheduler->delay(10);
-    testFn2();
-    hal.scheduler->delay(10);
-}
-
-void testFn2()
-{
-    AP_PERFMON_FUNCTION(testFn2)
-    hal.scheduler->delay(10);
-}
-
-AP_HAL_MAIN();
diff --git a/libraries/AP_PerfMon/AP_PerfMon_test/make.inc b/libraries/AP_PerfMon/AP_PerfMon_test/make.inc
deleted file mode 100644
index 7baa1ae2e6..0000000000
--- a/libraries/AP_PerfMon/AP_PerfMon_test/make.inc
+++ /dev/null
@@ -1,5 +0,0 @@
-LIBRARIES += AP_Common
-LIBRARIES += AP_Math
-LIBRARIES += AP_Param
-LIBRARIES += AP_PerfMon
-LIBRARIES += StorageManager