diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index d095e98d34..5208c88622 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor.h
@@ -105,21 +105,6 @@ public:
     // check if the sensors have new data
     virtual bool            new_data_available(void) = 0;
 
-    /* Getters for individual gyro axes.
-     * Gyros have correct coordinate frame and units (degrees per second).
-     */
-    virtual float           gx() = 0;
-    virtual float           gy() = 0;
-    virtual float           gz() = 0;
-
-    /* Getters for individual accel axes.
-     * Accels have correct coordinate frame ( flat level ax, ay = 0; az = -9.81)
-     * and units (meters per second squared).
-     */
-    virtual float           ax() = 0;
-    virtual float           ay() = 0;
-    virtual float           az() = 0;
-
     /* Temperature, in degrees celsius, of the gyro. */
     virtual float           temperature() = 0;
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index e57abacabd..9e18fd1aae 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -279,26 +279,6 @@ bool AP_InertialSensor_MPU6000::new_data_available( void )
     return _count != 0;
 }
 
-float AP_InertialSensor_MPU6000::gx() {
-    return _gyro.x;
-}
-float AP_InertialSensor_MPU6000::gy() {
-    return _gyro.y;
-}
-float AP_InertialSensor_MPU6000::gz() {
-    return _gyro.z;
-}
-
-float AP_InertialSensor_MPU6000::ax() {
-    return _accel.x;
-}
-float AP_InertialSensor_MPU6000::ay() {
-    return _accel.y;
-}
-float AP_InertialSensor_MPU6000::az() {
-    return _accel.z;
-}
-
 float AP_InertialSensor_MPU6000::temperature() {
     return _temp;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index ad5d92adb1..3969fe8022 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -28,12 +28,6 @@ public:
     /* Concrete implementation of AP_InertialSensor functions: */
     bool                update();
     bool                new_data_available();
-    float               gx();
-    float               gy();
-    float               gz();
-    float               ax();
-    float               ay();
-    float               az();
     float               temperature();
     float               get_gyro_drift_rate();
 
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index 837fbcdf87..26922f5f80 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
@@ -101,27 +101,6 @@ bool AP_InertialSensor_Oilpan::new_data_available( void )
     return _adc->new_data_available(_sensors);
 }
 
-float AP_InertialSensor_Oilpan::gx() {
-    return _gyro.x;
-}
-float AP_InertialSensor_Oilpan::gy() {
-    return _gyro.y;
-}
-float AP_InertialSensor_Oilpan::gz() {
-    return _gyro.z;
-}
-
-float AP_InertialSensor_Oilpan::ax() {
-    return _accel.x;
-}
-float AP_InertialSensor_Oilpan::ay() {
-    return _accel.y;
-}
-float AP_InertialSensor_Oilpan::az() {
-    return _accel.z;
-}
-
-
 float AP_InertialSensor_Oilpan::temperature() {
     return _temp;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
index 0991047e4e..cadb85a143 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
@@ -19,12 +19,6 @@ public:
     /* Concrete implementation of AP_InertialSensor functions: */
     bool            update();
     bool            new_data_available();
-    float           gx();
-    float           gy();
-    float           gz();
-    float           ax();
-    float           ay();
-    float           az();
     float           temperature();
     uint32_t        get_delta_time_micros();    // get_delta_time returns the time period in seconds overwhich the sensor data was collected    
     //uint32_t        get_last_sample_time_micros();  // last_sample_time - get time (in microseconds) that last sample was captured
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
index 478f08d542..191f0f9dee 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
@@ -31,26 +31,6 @@ bool AP_InertialSensor_Stub::new_data_available( void ) {
 }
 
 
-float AP_InertialSensor_Stub::gx() {
-    return 0.0f;
-}
-float AP_InertialSensor_Stub::gy() {
-    return 0.0f;
-}
-float AP_InertialSensor_Stub::gz() {
-    return 0.0f;
-}
-
-float AP_InertialSensor_Stub::ax() {
-    return 0.0f;
-}
-float AP_InertialSensor_Stub::ay() {
-    return 0.0f;
-}
-float AP_InertialSensor_Stub::az() {
-    return 0.0f;
-}
-
 float AP_InertialSensor_Stub::temperature() {
     return 0.0;
 }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
index 1fb85debd6..7feea85f46 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
@@ -19,12 +19,6 @@ public:
     /* Concrete implementation of AP_InertialSensor functions: */
     bool            update();
     bool            new_data_available();
-    float           gx();
-    float           gy();
-    float           gz();
-    float           ax();
-    float           ay();
-    float           az();
     float           temperature();
     uint32_t        get_delta_time_micros();
     uint32_t        get_last_sample_time_micros();