diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7c16e2cff9..9f733a9ceb 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -112,9 +112,6 @@
 // Local modules
 #include "Parameters.h"
 
-// Heli modules
-#include "heli.h"
-
 class Copter {
     public:
     friend class GCS_MAVLINK;
@@ -498,6 +495,19 @@ private:
     // setup the var_info table
     AP_Param param_loader;
 
+#if FRAME_CONFIG == HELI_FRAME
+    // Mode filter to reject RC Input glitches.  Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
+    // and 1 high glitch.  This is because any "off" glitches can be highly problematic for a helicopter running an ESC
+    // governor.  Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
+    ModeFilterInt16_Size5 rotor_speed_deglitch_filter {4};
+
+    // Tradheli flags
+    struct {
+        uint8_t dynamic_flight          : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
+        uint8_t init_targets_on_arming  : 1;    // 1   // true if we have been disarmed, and need to reset rate controller targets when we arm
+    } heli_flags;
+#endif
+
     static const AP_Scheduler::Task scheduler_tasks[];
     static const AP_Param::Info var_info[];
     static const struct LogStructure log_structure[];
diff --git a/ArduCopter/heli.cpp b/ArduCopter/heli.cpp
index 00d1f44ab6..62e18b1ac8 100644
--- a/ArduCopter/heli.cpp
+++ b/ArduCopter/heli.cpp
@@ -4,8 +4,6 @@
 
 // Traditional helicopter variables and functions
 
-#include "heli.h"
-
 #if FRAME_CONFIG == HELI_FRAME
 
 #ifndef HELI_DYNAMIC_FLIGHT_SPEED_MIN
diff --git a/ArduCopter/heli.h b/ArduCopter/heli.h
deleted file mode 100644
index 78ee0b3dcd..0000000000
--- a/ArduCopter/heli.h
+++ /dev/null
@@ -1,22 +0,0 @@
-/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
-
-#ifndef __HELI_H__
-#define __HELI_H__
-
-// Traditional helicopter variables and functions
-
-#if FRAME_CONFIG == HELI_FRAME
-
-// Mode filter to reject RC Input glitches.  Filter size is 5, and it draws the 4th element, so it can reject 3 low glitches,
-// and 1 high glitch.  This is because any "off" glitches can be highly problematic for a helicopter running an ESC
-// governor.  Even a single "off" frame can cause the rotor to slow dramatically and take a long time to restart.
-ModeFilterInt16_Size5 rotor_speed_deglitch_filter(4);
-
-// Tradheli flags
-static struct {
-    uint8_t dynamic_flight          : 1;    // 0   // true if we are moving at a significant speed (used to turn on/off leaky I terms)
-    uint8_t init_targets_on_arming  : 1;    // 1   // true if we have been disarmed, and need to reset rate controller targets when we arm
-} heli_flags;
-
-#endif  // FRAME_CONFIG == HELI_FRAME
-#endif  // __HELI_H__
\ No newline at end of file