diff --git a/libraries/AP_InertialNav/AP_InertialNav.h b/libraries/AP_InertialNav/AP_InertialNav.h
deleted file mode 100644
index abcf06bb56..0000000000
--- a/libraries/AP_InertialNav/AP_InertialNav.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-#include <AP_AHRS/AP_AHRS.h>
-#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
-
-/*
- * AP_InertialNav blends accelerometer data with gps and barometer data to improve altitude and position hold.
- *
- * Most of the functions have to be called at 100Hz. (see defines above)
- *
- * The accelerometer values are integrated over time to approximate velocity and position.
- * The inaccurcy of these estimates grows over time due to noisy sensor data.
- * To improve the accuracy, baro and gps readings are used:
- *      An error value is calculated as the difference between the sensor's measurement and the last position estimation.
- *   	This value is weighted with a gain factor and incorporated into the new estimation
- *
- * Special thanks to Tony Lambregts (FAA) for advice which contributed to the development of this filter.
- *
- */
-class AP_InertialNav
-{
-public:
-
-    // Constructor
-    AP_InertialNav() {}
-
-    /**
-     * updates velocity and position estimates pulling data from EKF
-     * high_vibes should be set to true if high vibration have been detected
-     */
-    virtual void update(bool high_vibes = false) = 0;
-
-    /**
-     * get_filter_status : returns filter status as a series of flags
-     */
-    virtual nav_filter_status get_filter_status() const = 0;
-
-    //
-    // XY Axis specific methods
-    //
-
-    /**
-     * get_position - returns the current position relative to the home location in cm.
-     *
-     * @return
-     */
-    virtual const Vector3f&    get_position() const = 0;
-
-    /**
-     * get_velocity - returns the current velocity in cm/s
-     *
-     * @return velocity vector:
-     *      		.x : latitude  velocity in cm/s
-     * 				.y : longitude velocity in cm/s
-     * 				.z : vertical  velocity in cm/s
-     */
-    virtual const Vector3f&    get_velocity() const = 0;
-
-    /**
-     * get_speed_xy - returns the current horizontal speed in cm/s
-     *
-     * @returns the current horizontal speed in cm/s
-     */
-    virtual float get_speed_xy() const = 0;
-
-    //
-    // Z Axis methods
-    //
-
-    /**
-     * get_altitude - get latest altitude estimate in cm above the
-     * reference position
-     * @return
-     */
-    virtual float       get_altitude() const = 0;
-
-    /**
-     * get_velocity_z - returns the current climbrate.
-     *
-     * @see get_velocity().z
-     *
-     * @return climbrate in cm/s (positive up)
-     */
-    virtual float       get_velocity_z() const = 0;
-};