diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 2bd5071c9f..3012c25187 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1004,7 +1004,7 @@ ParametersG2::ParametersG2(void)
     , proximity(copter.serial_manager)
 #endif
 #if ADVANCED_FAILSAFE == ENABLED
-    ,afs(copter.mission, copter.gps, copter.rcmap)
+    ,afs(copter.mission, copter.gps)
 #endif
 #if MODE_SMARTRTL_ENABLED == ENABLED
     ,smart_rtl()
diff --git a/ArduCopter/afs_copter.cpp b/ArduCopter/afs_copter.cpp
index 47785edff6..8653ca18d6 100644
--- a/ArduCopter/afs_copter.cpp
+++ b/ArduCopter/afs_copter.cpp
@@ -7,8 +7,8 @@
 #if ADVANCED_FAILSAFE == ENABLED
 
 // Constructor
-AP_AdvancedFailsafe_Copter::AP_AdvancedFailsafe_Copter(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap) :
-    AP_AdvancedFailsafe(_mission, _gps, _rcmap)
+AP_AdvancedFailsafe_Copter::AP_AdvancedFailsafe_Copter(AP_Mission &_mission, const AP_GPS &_gps) :
+    AP_AdvancedFailsafe(_mission, _gps)
 {}
 
 
diff --git a/ArduCopter/afs_copter.h b/ArduCopter/afs_copter.h
index 72a5935f09..5d600fdb74 100644
--- a/ArduCopter/afs_copter.h
+++ b/ArduCopter/afs_copter.h
@@ -27,7 +27,7 @@
 class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe
 {
 public:
-    AP_AdvancedFailsafe_Copter(AP_Mission &_mission, const AP_GPS &_gps, const RCMapper &_rcmap);
+    AP_AdvancedFailsafe_Copter(AP_Mission &_mission, const AP_GPS &_gps);
 
     // called to set all outputs to termination state
     void terminate_vehicle(void);