diff --git a/libraries/AP_Motors/AP_MotorsMatrix.cpp b/libraries/AP_Motors/AP_MotorsMatrix.cpp
index 9f259cab19..2cdf1f5584 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.cpp
+++ b/libraries/AP_Motors/AP_MotorsMatrix.cpp
@@ -255,13 +255,6 @@ void AP_MotorsMatrix::output_armed_stabilizing()
     }
 }
 
-// output_disarmed - sends commands to the motors
-void AP_MotorsMatrix::output_disarmed()
-{
-    // Send minimum values to all motors
-    output_min();
-}
-
 // output_test - spin a motor at the pwm value specified
 //  motor_seq is the motor's sequence number from 1 to the number of motors on the frame
 //  pwm value is an actual pwm value that will be output, normally in the range of 1000 ~ 2000
diff --git a/libraries/AP_Motors/AP_MotorsMatrix.h b/libraries/AP_Motors/AP_MotorsMatrix.h
index c45dfe8344..d118b32c75 100644
--- a/libraries/AP_Motors/AP_MotorsMatrix.h
+++ b/libraries/AP_Motors/AP_MotorsMatrix.h
@@ -66,7 +66,6 @@ public:
 protected:
     // output - sends commands to the motors
     void                output_armed_stabilizing();
-    void                output_disarmed();
 
     // add_motor using raw roll, pitch, throttle and yaw factors
     void                add_motor_raw(int8_t motor_num, float roll_fac, float pitch_fac, float yaw_fac, uint8_t testing_order);