diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 0c9b5628a4..b1e96c2c37 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -84,10 +84,6 @@
  # define RANGEFINDER_FILT_DEFAULT 0.5f     // filter for rangefinder distance
 #endif
 
-#ifndef SURFACE_TRACKING_VELZ_MAX
- # define SURFACE_TRACKING_VELZ_MAX 150     // max vertical speed change while surface tracking with rangefinder
-#endif
-
 #ifndef SURFACE_TRACKING_TIMEOUT_MS
  # define SURFACE_TRACKING_TIMEOUT_MS  1000 // surface tracking target alt will reset to current rangefinder alt after this many milliseconds without a good rangefinder alt
 #endif
@@ -108,28 +104,11 @@
  # define MAV_SYSTEM_ID          1
 #endif
 
-
-//////////////////////////////////////////////////////////////////////////////
-// Battery monitoring
-//
-#ifndef BOARD_VOLTAGE_MIN
- # define BOARD_VOLTAGE_MIN             4.3f        // min board voltage in volts for pre-arm checks
-#endif
-
-#ifndef BOARD_VOLTAGE_MAX
- # define BOARD_VOLTAGE_MAX             5.8f        // max board voltage in volts for pre-arm checks
-#endif
-
 // prearm GPS hdop check
 #ifndef GPS_HDOP_GOOD_DEFAULT
  # define GPS_HDOP_GOOD_DEFAULT         140     // minimum hdop that represents a good position.  used during pre-arm checks if fence is enabled
 #endif
 
-// GCS failsafe
-#ifndef FS_GCS
- # define FS_GCS                        DISABLED
-#endif
-
 // missing terrain data failsafe
 #ifndef FS_TERRAIN_TIMEOUT_MS
  #define FS_TERRAIN_TIMEOUT_MS          5000     // 5 seconds of missing terrain data will trigger failsafe (RTL)