diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 736faecd86..535875c3e2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -931,7 +931,6 @@ private:
     uint16_t perf_info_get_num_long_running();
     uint32_t perf_info_get_num_dropped();
     Vector3f pv_location_to_vector(const Location& loc);
-    Vector3f pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec);
     float pv_alt_above_origin(float alt_above_home_cm);
     float pv_alt_above_home(float alt_above_origin_cm);
     float pv_get_bearing_cd(const Vector3f &origin, const Vector3f &destination);
diff --git a/ArduCopter/position_vector.cpp b/ArduCopter/position_vector.cpp
index ba82f37257..8afad32b46 100644
--- a/ArduCopter/position_vector.cpp
+++ b/ArduCopter/position_vector.cpp
@@ -17,26 +17,6 @@ Vector3f Copter::pv_location_to_vector(const Location& loc)
     return Vector3f((loc.lat-origin.lat) * LATLON_TO_CM, (loc.lng-origin.lng) * LATLON_TO_CM * scaleLongDown, alt_above_origin);
 }
 
-// pv_location_to_vector_with_default - convert lat/lon coordinates to a position vector,
-//     defaults to the default_posvec's lat/lon and alt if the provided lat/lon or alt are zero
-Vector3f Copter::pv_location_to_vector_with_default(const Location& loc, const Vector3f& default_posvec)
-{
-    Vector3f pos = pv_location_to_vector(loc);
-
-    // set target altitude to default if not provided
-    if (loc.alt == 0) {
-        pos.z = default_posvec.z;
-    }
-
-    // set target position to default if not provided
-    if (loc.lat == 0 && loc.lng == 0) {
-        pos.x = default_posvec.x;
-        pos.y = default_posvec.y;
-    }
-
-    return pos;
-}
-
 // pv_alt_above_origin - convert altitude above home to altitude above EKF origin
 float Copter::pv_alt_above_origin(float alt_above_home_cm)
 {