diff --git a/libraries/AC_AttitudeControl/AC_PosControl.cpp b/libraries/AC_AttitudeControl/AC_PosControl.cpp
index 95844e89e2..2b2654c96c 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl.cpp
@@ -741,7 +741,7 @@ void AC_PosControl::get_stopping_point_xy(Vector3f &stopping_point) const
 /// get_distance_to_target - get horizontal distance to target position in cm
 float AC_PosControl::get_distance_to_target() const
 {
-    return _distance_to_target;
+    return norm(_pos_error.x, _pos_error.y);
 }
 
 /// get_bearing_to_target - get bearing to target position in centi-degrees
@@ -1016,7 +1016,6 @@ void AC_PosControl::run_xy_controller(float dt)
             _pos_target.x = curr_pos.x + _pos_error.x;
             _pos_target.y = curr_pos.y + _pos_error.y;
         }
-        _distance_to_target = norm(_pos_error.x, _pos_error.y);
 
         _vel_target = sqrt_controller(_pos_error, kP, _accel_cms);
     }
diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 7ff1a4c4fe..0d3f0b4336 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -407,7 +407,6 @@ protected:
     Vector3f    _accel_target;          // acceleration target in cm/s/s
     Vector3f    _accel_error;           // acceleration error in cm/s/s
     Vector2f    _vehicle_horiz_vel;     // velocity to use if _flags.vehicle_horiz_vel_override is set
-    float       _distance_to_target;    // distance to position target - for reporting only
     LowPassFilterFloat _vel_error_filter;   // low-pass-filter on z-axis velocity error
 
     LowPassFilterVector2f _accel_target_filter; // acceleration target filter