diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 3a8cdf75ce..005f7a2aa1 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -700,7 +700,6 @@ private:
     void set_home_to_current_location_inflight();
     bool set_home_to_current_location(bool lock);
     bool set_home(const Location& loc, bool lock);
-    void set_ekf_origin(const Location& loc);
     bool far_from_EKF_origin(const Location& loc);
     void set_system_time_from_GPS();
 
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 5788f825f1..1e4a3186bb 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1803,9 +1803,3 @@ const AP_FWVersion &GCS_MAVLINK_Copter::get_fwver() const
 {
     return copter.fwver;
 }
-
-
-void GCS_MAVLINK_Copter::set_ekf_origin(const Location& loc)
-{
-    copter.set_ekf_origin(loc);
-}
diff --git a/ArduCopter/GCS_Mavlink.h b/ArduCopter/GCS_Mavlink.h
index cd0ae72701..de8519b8c8 100644
--- a/ArduCopter/GCS_Mavlink.h
+++ b/ArduCopter/GCS_Mavlink.h
@@ -24,7 +24,6 @@ protected:
     AP_AdvancedFailsafe *get_advanced_failsafe() const override;
     AP_VisualOdom *get_visual_odom() const override;
     const AP_FWVersion &get_fwver() const override;
-    void set_ekf_origin(const Location& loc) override;
 
     uint8_t sysid_my_gcs() const override;
 
diff --git a/ArduCopter/commands.cpp b/ArduCopter/commands.cpp
index 56e95c1fde..e8d65459c8 100644
--- a/ArduCopter/commands.cpp
+++ b/ArduCopter/commands.cpp
@@ -110,32 +110,6 @@ bool Copter::set_home(const Location& loc, bool lock)
     return true;
 }
 
-// sets ekf_origin if it has not been set.
-//  should only be used when there is no GPS to provide an absolute position
-void Copter::set_ekf_origin(const Location& loc)
-{
-    // check location is valid
-    if (!check_latlng(loc)) {
-        return;
-    }
-
-    // check EKF origin has already been set
-    Location ekf_origin;
-    if (ahrs.get_origin(ekf_origin)) {
-        return;
-    }
-
-    if (!ahrs.set_origin(loc)) {
-        return;
-    }
-
-    // log ahrs home and ekf origin dataflash
-    ahrs.Log_Write_Home_And_Origin();
-
-    // send ekf origin to GCS
-    gcs().send_ekf_origin(loc);
-}
-
 // far_from_EKF_origin - checks if a location is too far from the EKF origin
 //  returns true if too far
 bool Copter::far_from_EKF_origin(const Location& loc)