diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 705ccafae7..bec597a2f8 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -138,8 +138,6 @@ const AP_Scheduler::Task Copter::scheduler_tasks[] = {
     // camera mount's fast update
     FAST_TASK_CLASS(AP_Mount, &copter.camera_mount, update_fast),
 #endif
-    // log sensor health
-    FAST_TASK(Log_Sensor_Health),
     FAST_TASK(Log_Video_Stabilisation),
 
     SCHED_TASK(rc_loop,              100,    130,  3),
@@ -743,8 +741,6 @@ Copter::Copter(void)
     param_loader(var_info),
     flightmode(&mode_stabilize)
 {
-    // init sensor error logging flags
-    sensor_health.compass = true;
 }
 
 Copter copter;
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 574e550a3c..f1e9871a21 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -397,11 +397,6 @@ private:
         return failsafe.radio || battery.has_failsafed() || failsafe.gcs || failsafe.ekf || failsafe.terrain || failsafe.adsb;
     }
 
-    // sensor health for logging
-    struct {
-        uint8_t compass     : 1;    // true if compass is healthy
-    } sensor_health;
-
     // Motor Output
     MOTOR_CLASS *motors;
     const struct AP_Param::GroupInfo *motors_var_info;
@@ -800,7 +795,6 @@ private:
     void Log_Write_Data(LogDataID id, uint16_t value);
     void Log_Write_Data(LogDataID id, float value);
     void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
-    void Log_Sensor_Health();
     void Log_Video_Stabilisation();
 #if FRAME_CONFIG == HELI_FRAME
     void Log_Write_Heli(void);
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 215e249e63..af4e8674f2 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -220,20 +220,6 @@ void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float t
     logger.WriteBlock(&pkt_tune, sizeof(pkt_tune));
 }
 
-// logs when compass becomes unhealthy
-void Copter::Log_Sensor_Health()
-{
-    if (!should_log(MASK_LOG_ANY)) {
-        return;
-    }
-
-    // check compass
-    if (sensor_health.compass != compass.healthy()) {
-        sensor_health.compass = compass.healthy();
-        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, (sensor_health.compass ? LogErrorCode::ERROR_RESOLVED : LogErrorCode::UNHEALTHY));
-    }
-}
-
 void Copter::Log_Video_Stabilisation()
 {
     if (!should_log(MASK_LOG_VIDEO_STABILISATION)) {
@@ -596,7 +582,6 @@ void Copter::Log_Write_Data(LogDataID id, int16_t value) {}
 void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
 void Copter::Log_Write_Data(LogDataID id, float value) {}
 void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
-void Copter::Log_Sensor_Health() {}
 void Copter::Log_Write_Guided_Position_Target(ModeGuided::SubMode target_type, const Vector3f& pos_target, bool terrain_alt, const Vector3f& vel_target, const Vector3f& accel_target) {}
 void Copter::Log_Write_Guided_Attitude_Target(ModeGuided::SubMode target_type, float roll, float pitch, float yaw, const Vector3f &ang_vel, float thrust, float climb_rate) {}
 void Copter::Log_Write_SysID_Setup(uint8_t systemID_axis, float waveform_magnitude, float frequency_start, float frequency_stop, float time_fade_in, float time_const_freq, float time_record, float time_fade_out) {}