diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 7a00567aef..45ce38346b 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -233,8 +233,8 @@ public:
         k_param_pi_loiter_lon,
         k_param_pid_loiter_rate_lat,
         k_param_pid_loiter_rate_lon,
-        k_param_pid_nav_lat,
-        k_param_pid_nav_lon,
+        k_param_pid_nav_lat,        // 233 - remove
+        k_param_pid_nav_lon,        // 234 - remove
         k_param_pi_alt_hold,
         k_param_pid_throttle,
         k_param_pid_optflow_roll,
@@ -370,8 +370,6 @@ public:
     AC_PID                  pid_rate_yaw;
     AC_PID                  pid_loiter_rate_lat;
     AC_PID                  pid_loiter_rate_lon;
-    AC_PID                  pid_nav_lat;
-    AC_PID                  pid_nav_lon;
 
     AC_PID                  pid_throttle;
     AC_PID                  pid_throttle_accel;
@@ -419,9 +417,6 @@ public:
         pid_loiter_rate_lat     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX * 100),
         pid_loiter_rate_lon     (LOITER_RATE_P,         LOITER_RATE_I,          LOITER_RATE_D,          LOITER_RATE_IMAX * 100),
 
-        pid_nav_lat             (NAV_P,                 NAV_I,                  NAV_D,                  NAV_IMAX * 100),
-        pid_nav_lon             (NAV_P,                 NAV_I,                  NAV_D,                  NAV_IMAX * 100),
-
         pid_throttle            (THROTTLE_P,            THROTTLE_I,             THROTTLE_D,             THROTTLE_IMAX),
         pid_throttle_accel      (THROTTLE_ACCEL_P,      THROTTLE_ACCEL_I,       THROTTLE_ACCEL_D,       THROTTLE_ACCEL_IMAX),
         pid_optflow_roll        (OPTFLOW_ROLL_P,        OPTFLOW_ROLL_I,         OPTFLOW_ROLL_D,         OPTFLOW_IMAX * 100),