diff --git a/libraries/AP_VisualOdom/AP_VisualOdom.cpp b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
index 7780dc242d..f8ec6b4763 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom.cpp
@@ -131,7 +131,10 @@ void AP_VisualOdom::handle_vision_position_estimate(uint64_t remote_time_us, uin
 
     // call backend
     if (_driver != nullptr) {
-        _driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, roll, pitch, yaw);
+        // convert attitude to quaternion and call backend
+        Quaternion attitude;
+        attitude.from_euler(roll, pitch, yaw);
+        _driver->handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude);
     }
 }
 
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
index 9094b0f844..6e7752f7ad 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp
@@ -35,15 +35,6 @@ bool AP_VisualOdom_Backend::healthy() const
     return ((AP_HAL::millis() - _last_update_ms) < AP_VISUALODOM_TIMEOUT_MS);
 }
 
-// general purpose method to send position estimate data to EKF
-// distances in meters, roll, pitch and yaw are in radians
-void AP_VisualOdom_Backend::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw)
-{
-    Quaternion attitude;
-    attitude.from_euler(roll, pitch, yaw);
-    handle_vision_position_estimate(remote_time_us, time_ms, x, y, z, attitude);
-}
-
 // general purpose method to send position estimate data to EKF
 void AP_VisualOdom_Backend::handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude)
 {
diff --git a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
index 724f43fda5..229b488c64 100644
--- a/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
+++ b/libraries/AP_VisualOdom/AP_VisualOdom_Backend.h
@@ -33,7 +33,6 @@ public:
 
 	// general purpose methods to consume position estimate data and send to EKF
 	// distances in meters, roll, pitch and yaw are in radians
-    void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, float roll, float pitch, float yaw);
     void handle_vision_position_estimate(uint64_t remote_time_us, uint32_t time_ms, float x, float y, float z, const Quaternion &attitude);
 
     // calibrate camera attitude to align with vehicle's AHRS/EKF attitude