diff --git a/ArduSub/APM_Config.h b/ArduSub/APM_Config.h
index d88144366d..38c83e0713 100644
--- a/ArduSub/APM_Config.h
+++ b/ArduSub/APM_Config.h
@@ -35,7 +35,6 @@
 
 // features below are disabled by default on all boards
 //#define SPRAYER               ENABLED             // enable the crop sprayer feature (two ESC controlled pumps the speed of which depends upon the vehicle's horizontal velocity)
-//#define GNDEFFECT_COMPENSATION ENABLED            // enable ground effect compensation for barometer (if propwash interferes with the barometer on the ground)
 //#define DISALLOW_GCS_MODE_CHANGE_DURING_RC_FAILSAFE   // disable mode changes from GCS during Radio failsafes.  Avoids a race condition for vehicle like Solo in which the RC and telemetry travel along the same link
 
 // other settings
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 43b6b8b805..531b8aa171 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -552,16 +552,6 @@ private:
 	uint32_t last_pilot_yaw_input_ms;
 	uint32_t fs_terrain_recover_start_ms = 0;
 
-#if GNDEFFECT_COMPENSATION == ENABLED
-    // ground effect detector
-    struct {
-        bool takeoff_expected;
-        bool touchdown_expected;
-        uint32_t takeoff_time_ms;
-        float takeoff_alt_cm;
-    } gndeffect_state;
-#endif // GNDEFFECT_COMPENSATION == ENABLED
-
     static const AP_Scheduler::Task scheduler_tasks[];
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
@@ -856,9 +846,6 @@ private:
     void update_surface_and_bottom_detector();
     void set_surfaced(bool at_surface);
     void set_bottomed(bool at_bottom);
-#if GNDEFFECT_COMPENSATION == ENABLED
-    void update_ground_effect_detector(void);
-#endif // GNDEFFECT_COMPENSATION == ENABLED
     void landinggear_update();
     void update_notify();
     void motor_test_output();
diff --git a/ArduSub/config.h b/ArduSub/config.h
index 2091b8db4c..7facc07094 100644
--- a/ArduSub/config.h
+++ b/ArduSub/config.h
@@ -156,10 +156,6 @@
  # define FS_GCS_TIMEOUT_MS             2500    // gcs failsafe triggers after 5 seconds with no GCS heartbeat
 #endif
 
-#ifndef GNDEFFECT_COMPENSATION
- # define GNDEFFECT_COMPENSATION          DISABLED
-#endif
-
 // Radio failsafe while using RC_override
 #ifndef FS_RADIO_RC_OVERRIDE_TIMEOUT_MS
  # define FS_RADIO_RC_OVERRIDE_TIMEOUT_MS  1000    // RC Radio failsafe triggers after 1 second while using RC_override from ground station