diff --git a/libraries/AP_LeadFilter/AP_LeadFilter.cpp b/libraries/AP_LeadFilter/AP_LeadFilter.cpp
deleted file mode 100644
index 5286d5dd0a..0000000000
--- a/libraries/AP_LeadFilter/AP_LeadFilter.cpp
+++ /dev/null
@@ -1,25 +0,0 @@
-/*
- *       AP_LeadFilter.cpp - GPS lag remover library for Arduino
- *       Code by Jason Short. DIYDrones.com
- *
- *       This library is free software; you can redistribute it and / or
- *               modify it under the terms of the GNU Lesser General Public
- *               License as published by the Free Software Foundation; either
- *               version 2.1 of the License, or (at your option) any later version.
- *
- */
-#include "AP_LeadFilter.h"
-
-// setup the control preferences
-int32_t
-AP_LeadFilter::get_position(int32_t pos, int16_t vel, float lag_in_seconds)
-{
-    // assumes a 1 second delay in the GPS
-    int16_t accel_contribution = (vel - _last_velocity) * lag_in_seconds * lag_in_seconds;
-    int16_t vel_contribution = vel * lag_in_seconds;
-
-    // store velocity for next iteration
-    _last_velocity = vel;
-
-    return pos + vel_contribution + accel_contribution;
-}
diff --git a/libraries/AP_LeadFilter/AP_LeadFilter.h b/libraries/AP_LeadFilter/AP_LeadFilter.h
deleted file mode 100644
index 6de8ea95e5..0000000000
--- a/libraries/AP_LeadFilter/AP_LeadFilter.h
+++ /dev/null
@@ -1,29 +0,0 @@
-// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#ifndef __AP_LEADFILTER_H__
-#define __AP_LEADFILTER_H__
-
-#include <stdint.h>
-#include <AP_LeadFilter.h>
-
-/// @class	AP_LeadFilter
-/// @brief	Object managing GPS lag
-class AP_LeadFilter {
-public:
-    /// Constructor
-    ///
-    ///
-    AP_LeadFilter() :
-        _last_velocity(0) {
-    }
-
-    // setup min and max radio values in CLI
-    int32_t         get_position(int32_t pos, int16_t vel, float lag_in_seconds = 1.0);
-    void            clear() { _last_velocity = 0; }
-
-private:
-    int16_t         _last_velocity;
-
-};
-
-#endif // __AP_LEADFILTER_H__
diff --git a/libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde b/libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde
deleted file mode 100644
index bbb7b83e3a..0000000000
--- a/libraries/AP_LeadFilter/examples/AP_LeadFilter/AP_LeadFilter.pde
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
- *       Example of AP Lead_Filter library.
- *       Code by Jason Short. 2010
- *       DIYDrones.com
- *
- */
-
-#include <AP_Common.h>
-#include <AP_Progmem.h>
-#include <AP_Param.h>
-#include <AP_Math.h>
-#include <AP_HAL.h>
-#include <AP_HAL_AVR.h>
-
-#include <AP_LeadFilter.h>
-
-const AP_HAL::HAL& hal = AP_HAL_BOARD_DRIVER;
-
-AP_LeadFilter xLeadFilter;      // GPS lag filter
-
-void setup()
-{
-    hal.console->println("AP_LeadFilter test ver 1.0");
-    hal.scheduler->delay(500);
-}
-
-void loop()
-{
-    int16_t velocity;
-    int32_t position;
-    int32_t new_position;
-    int16_t i;
-
-    position = 0;
-    velocity = 0;
-    xLeadFilter.clear();
-
-    hal.console->printf("------------------\n");
-    hal.console->printf("start position = 0, lag of 1sec.\n");
-    for( i = 0; i < 10; i++ ) {
-        // get updated position
-        new_position = xLeadFilter.get_position(position, velocity);     // new position with velocity of 1 m/s
-        hal.console->printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
-        position = new_position;
-        velocity += 100;
-    }
-
-    position = 0;
-    velocity = 0;
-    xLeadFilter.clear();
-
-    hal.console->printf("------------------\n");
-    hal.console->printf("start position = 0, lag of 200ms\n");
-    for( i = 0; i < 10; i++ ) {
-        // get updated position
-        new_position = xLeadFilter.get_position(position, velocity, 0.200);     // new position with velocity of 1 m/s
-        hal.console->printf("start pos: %ld, start vel: %d, end pos: %ld\n", (long int)position, (int)velocity, (long int)new_position);
-        position = new_position;
-        velocity += 100;
-    }
-
-    hal.scheduler->delay(10000);
-}
-
-AP_HAL_MAIN();
diff --git a/libraries/AP_LeadFilter/examples/AP_LeadFilter/Makefile b/libraries/AP_LeadFilter/examples/AP_LeadFilter/Makefile
deleted file mode 100644
index 87e4482ca3..0000000000
--- a/libraries/AP_LeadFilter/examples/AP_LeadFilter/Makefile
+++ /dev/null
@@ -1,2 +0,0 @@
-BOARD	=	mega
-include ../../../../mk/apm.mk
diff --git a/libraries/AP_LeadFilter/examples/AP_LeadFilter/nocore.inoflag b/libraries/AP_LeadFilter/examples/AP_LeadFilter/nocore.inoflag
deleted file mode 100644
index e69de29bb2..0000000000