diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 07b06fc81b..3d4042e669 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -522,7 +522,6 @@ private:
     // sensors.cpp
     void init_compass(void);
     void compass_accumulate(void);
-    void init_barometer(bool full_calibration);
     void init_rangefinder(void);
     void init_beacon();
     void init_visual_odom();
diff --git a/APMrover2/sensors.cpp b/APMrover2/sensors.cpp
index eb6dc30050..30ff79debe 100644
--- a/APMrover2/sensors.cpp
+++ b/APMrover2/sensors.cpp
@@ -39,17 +39,6 @@ void Rover::compass_accumulate(void)
     }
 }
 
-void Rover::init_barometer(bool full_calibration)
-{
-    gcs().send_text(MAV_SEVERITY_INFO, "Calibrating barometer");
-    if (full_calibration) {
-        barometer.calibrate();
-    } else {
-        barometer.update_calibration();
-    }
-    gcs().send_text(MAV_SEVERITY_INFO, "Barometer calibration complete");
-}
-
 void Rover::init_rangefinder(void)
 {
     rangefinder.init();
diff --git a/APMrover2/system.cpp b/APMrover2/system.cpp
index 90b1b7179b..8e10de6ed1 100644
--- a/APMrover2/system.cpp
+++ b/APMrover2/system.cpp
@@ -103,7 +103,7 @@ void Rover::init_ardupilot()
     init_visual_odom();
 
     // and baro for EKF
-    init_barometer(true);
+    barometer.calibrate();
 
     // Do GPS init
     gps.set_log_gps_bit(MASK_LOG_GPS);