diff --git a/libraries/AC_PID/AC_PID.cpp b/libraries/AC_PID/AC_PID.cpp
index aa19e44a5f..6864072a30 100644
--- a/libraries/AC_PID/AC_PID.cpp
+++ b/libraries/AC_PID/AC_PID.cpp
@@ -402,16 +402,6 @@ float AC_PID::get_filt_D_alpha(float dt) const
     return calc_lowpass_alpha_dt(dt, _filt_D_hz);
 }
 
-void AC_PID::set_integrator(float target, float measurement, float integrator)
-{
-    set_integrator(target - measurement, integrator);
-}
-
-void AC_PID::set_integrator(float error, float integrator)
-{
-    _integrator = constrain_float(integrator - error * _kp, -_kimax, _kimax);
-}
-
 void AC_PID::set_integrator(float integrator)
 {
     _integrator = constrain_float(integrator, -_kimax, _kimax);
diff --git a/libraries/AC_PID/AC_PID.h b/libraries/AC_PID/AC_PID.h
index 8f9b7704c9..dce0082143 100644
--- a/libraries/AC_PID/AC_PID.h
+++ b/libraries/AC_PID/AC_PID.h
@@ -134,8 +134,6 @@ public:
     void set_actual_rate(float actual) { _pid_info.actual = actual; }
 
     // integrator setting functions
-    void set_integrator(float target, float measurement, float i);
-    void set_integrator(float error, float i);
     void set_integrator(float i);
     void relax_integrator(float integrator, float dt, float time_constant);