diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 61e835c5b7..452879fd24 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -1143,55 +1143,6 @@ void AP_GPS::handle_external(const AP_ExternalAHRS::gps_data_message_t &pkt)
 }
 #endif // HAL_EXTERNAL_AHRS_ENABLED
 
-/*
-  set HIL (hardware in the loop) status for a GPS instance
- */
-void AP_GPS::setHIL(uint8_t instance, GPS_Status _status, uint64_t time_epoch_ms,
-                    const Location &_location, const Vector3f &_velocity, uint8_t _num_sats,
-                    uint16_t hdop)
-{
-    if (instance >= GPS_MAX_RECEIVERS) {
-        return;
-    }
-    const uint32_t tnow = AP_HAL::millis();
-    GPS_State &istate = state[instance];
-    istate.status = _status;
-    istate.location = _location;
-    istate.velocity = _velocity;
-    istate.ground_speed = norm(istate.velocity.x, istate.velocity.y);
-    istate.ground_course = wrap_360(degrees(atan2f(istate.velocity.y, istate.velocity.x)));
-    istate.hdop = hdop;
-    istate.num_sats = _num_sats;
-    istate.last_gps_time_ms = tnow;
-    uint64_t gps_time_ms = time_epoch_ms - UNIX_OFFSET_MSEC;
-    istate.time_week     = gps_time_ms / AP_MSEC_PER_WEEK;
-    istate.time_week_ms  = gps_time_ms - istate.time_week * AP_MSEC_PER_WEEK;
-    timing[instance].last_message_time_ms = tnow;
-    timing[instance].last_fix_time_ms = tnow;
-    _type[instance].set(GPS_TYPE_HIL);
-}
-
-// set accuracy for HIL
-void AP_GPS::setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms)
-{
-    if (instance >= GPS_MAX_RECEIVERS) {
-        return;
-    }
-    GPS_State &istate = state[instance];
-    istate.vdop = vdop * 100;
-    istate.horizontal_accuracy = hacc;
-    istate.vertical_accuracy = vacc;
-    istate.speed_accuracy = sacc;
-    istate.have_horizontal_accuracy = true;
-    istate.have_vertical_accuracy = true;
-    istate.have_speed_accuracy = true;
-    istate.have_vertical_velocity |= _have_vertical_velocity;
-    if (sample_ms != 0) {
-        timing[instance].last_message_time_ms = sample_ms;
-        timing[instance].last_fix_time_ms = sample_ms;
-    }
-}
-
 /**
    Lock a GPS port, preventing the GPS driver from using it. This can
    be used to allow a user to control a GPS port via the
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index 98848babee..726f99f0e7 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -444,14 +444,6 @@ public:
     // return a 3D vector defining the offset of the GPS antenna in meters relative to the body frame origin
     const Vector3f &get_antenna_offset(uint8_t instance) const;
 
-    // set position for HIL
-    void setHIL(uint8_t instance, GPS_Status status, uint64_t time_epoch_ms,
-                const Location &location, const Vector3f &velocity, uint8_t num_sats,
-                uint16_t hdop);
-
-    // set accuracy for HIL
-    void setHIL_Accuracy(uint8_t instance, float vdop, float hacc, float vacc, float sacc, bool _have_vertical_velocity, uint32_t sample_ms);
-
     // lock out a GPS port, allowing another application to use the port
     void lock_port(uint8_t instance, bool locked);